Decentralized Attitude Estimation Using a Quaternion Covariance Intersection Approach

被引：16

作者：

Crassidis, John L. ^{[1
]}

Cheng, Yang ^{[2
]}

Nebelecky, Christopher K. ^{[1
]}

Fosbury, Adam M. ^{[3
]}

机构：

[1] SUNY Buffalo, Dept Mech & Aerosp Engn, Amherst, NY 14260 USA

[2] Mississippi State Univ, Dept Aerosp Engn, Mississippi State, MS 39762 USA

[3] Johns Hopkins Appl Phys Lab, Laurel, MD 20723 USA

来源：

JOURNAL OF THE ASTRONAUTICAL SCIENCES | 2009年 / 57卷 / 1-2期

关键词：

CONSTRAINED LEAST-SQUARES;

D O I：

10.1007/BF03321497

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper derives an approach to combine estimates and covariances for decentralized attitude estimation using a quaternion parameterization. The approach is based on the covariance intersection method, which is modified to maintain quaternion normalization in the combination process. A practical simulation result is provided where local extended Kalman filters are used on two star trackers, each running with common gyro measurements. The covariance intersection approach is shown to provide more accurate estimates than either of the local filters.

引用

页码：113 / 128

页数：16

共 23 条

[1] Solving large-scale constrained least-squares problems [J].

Abdel-Aziz, MR ;

El-Alem, MM .

APPLIED MATHEMATICS AND COMPUTATION, 2003, 137 (2-3) :571-587

[2]

[Anonymous], 2012, Optimal Estimation of Dynamic Systems

[3] Consistent fusion of correlated data sources [J].

Benaskeur, AR .

IECON-2002: PROCEEDINGS OF THE 2002 28TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, 2002, :2652-2656

[4]

BIERMAN GJ, 1977, FACTORIZATION METHOD, pCH4

[5] Estimation under unknown correlation: Covariance intersection revisited [J].

Chen, LG ;

Arambel, PO ;

Mehra, RK .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2002, 47 (11) :1879-1882

[6]

GANDER W, 1981, NUMER MATH, V36, P291, DOI 10.1007/BF01396656

[7] A CONSTRAINED EIGENVALUE PROBLEM [J].

GANDER, W ;

GOLUB, GH ;

VONMATT, U .

LINEAR ALGEBRA AND ITS APPLICATIONS, 1989, 114 :815-839

[8]

GOLUB GH, 1973, SIAM REV, V15, P318, DOI 10.1137/1015032

[9] QUADRATICALLY CONSTRAINED LEAST-SQUARES AND QUADRATIC PROBLEMS [J].

GOLUB, GH ;

VONMATT, U .

NUMERISCHE MATHEMATIK, 1991, 59 (06) :561-580

[10]

Grant M., CVX: Matlab Software for Disciplined Convex Programming

← 1 2 3 →