基于地磁场矢量误差反馈的姿态补偿算法

doi:10.3785/j.issn.1008-973X.2014.09.023

浙江大学学报(工学版)

航空、航天

基于地磁场矢量误差反馈的姿态补偿算法

赵文杰1,方舟2,李平1,2

1.浙江大学控制科学与工程学系,浙江杭州310027；2.浙江大学航空航天学院,浙江杭州 310027

Attitude compensation algorithm based on error feedback of geomagnetic vector

ZHAO Wen-jie1, FANG Zhou2, LI Ping1,2

1.Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China; 2.School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China

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摘要：

针对小型空中机器人在全球定位系统（GPS）失锁情况下的姿态估计问题,提出一种新的闭环姿态补偿算法.有GPS辅助的情况下,采用组合导航算法对姿态角和地磁场矢量做出估计；当组合系统无法有效工作时,将反馈控制的思想引入姿态估计过程,充分利用地磁场测量值与估计值之间隐含的姿态信息,通过地磁场矢量误差反馈对姿态角速率测量值进行修正,进而抑制惯性导航系统误差的发散.在小型空中机器人上对算法进行实物验证,并与参考系统对比.结果显示:在GPS失锁的情况下,与开环工作模式下的INS/GPS组合导航系统相比,新的闭环姿态补偿算法的姿态估计误差更小,使惯性导航系统的姿态误差积累得到了有效的抑制．

Abstract:

A new closed-loop attitude compensation algorithm for mini aerial robots was proposed to solve the attitude estimation problem during global positioning system (GPS) outages. When GPS is available, the classical integrated navigation system is used to estimate attitude and geomagnetic vector. Once the integrated system cannot work effectively, the concept of feedback control is introduced in the attitude estimation process. The latent attitude information existed in the geomagnetic measurement and its estimation is made the best use, and the feedback of geomagnetic vector deviation is used to correct the angular rate measurement, so that the divergency of inertial navigation system (INS) errors can be limited. The new algorithm was tested on a mini aerial robot, and compared with a reference system. Experimental results show that in contrast to the INS/GPS integrated navigation system that works in open-loop mode, the new closed-loop attitude compensation algorithm achieves smaller errors for attitude estimate and effectively restrains the accumulation of INS attitude errors during GPS outages.

出版日期: 2014-09-01

V 249.328

基金资助:

国家自然科学基金资助项目（61004066）；浙江省科技计划资助项目（2011C23106）；中央高校基本科研业务费专项资金资助项目(2011FZA4031)

通讯作者: 方舟，男，副教授 E-mail: zfang@zju.edu.cn

作者简介: 赵文杰（1985-），男，博士生，从事导航、制导与控制的研究.E-mail: wjzhao@iipc.zju.edu.cn

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引用本文:

赵文杰,方舟,李平. 基于地磁场矢量误差反馈的姿态补偿算法[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2014.09.023.

ZHAO Wen-jie, FANG Zhou, LI Ping. Attitude compensation algorithm based on error feedback of geomagnetic vector. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2014.09.023.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2014.09.023 或 http://www.zjujournals.com/eng/CN/Y2014/V48/I9/1704

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[1]	赵文杰,方舟,李平. 基于地磁场矢量误差反馈的姿态补偿算法[J]. J4, 2014, 48(4): 0-00.

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