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插值间距的适当选择可以从某种程度上确保剩余项更接近于全Taylor级数的高阶项,因此,对大多非线性比较强的状态估计问题来说,基于Stirling插值原理的SIF要比EKF具有更大的优越性。估计方位时我们用仿真实验分别对SIF和EKF的特性进行了比较,用四元数而不用欧拉角来表示旋转量以消除方位估计的奇异性问题,状态向量包括四元数方位和旋转速度,以四元数作为测量输入,因此测量方程是线性,仿真实验结果表明:由于动态系统的准线性本质,估计四元数方位时EKF特性要比SIF好。
Appropriate selection of interpolation intervals can ensure that the remaining items are closer to the higher-order terms of the whole Taylor series to some extent. Therefore, SIF based on the Stirling interpolation principle is better than EKF for most nonlinear state estimation problems Has greater advantages. In the estimation of azimuth, we compared the characteristics of SIF and EKF respectively with the simulation experiment. Quaternion instead of Euler angles was used to express the singularity to eliminate the singularity of azimuth estimation. The state vectors include quaternion and rotation speed , The quaternion is taken as the measurement input. Therefore, the measurement equation is linear. The simulation results show that due to the quasi-linear nature of the dynamic system, EKF characteristics are better than SIF in estimating the quaternion.