MEMS gyroscope/TAM-integrated attitude estimation based on moving horizon estimation

作者：Huang Jingli^*; Zhao Guorong; Zhang Xiangyu

来源：Proceedings of the Institution of Mechanical Engineers - Part G: Journal of Aerospace Engineering , 2017, 231(8): 1451-1459.

DOI：10.1177/0954410016652920

• Attitude estimation
• moving horizon estimation
• three axis magnetometer
• MEMS gyroscope
• arrival cost

To improve the accuracy of the attitude sensor micro electro mechanical system gyroscope in low cost satellite, a nonlinear moving horizon estimation algorithm based on micro-electro mechanical system gyroscope/three-axis magnetometer is proposed in this paper. First, a quaternion micro-electro mechanical system gyroscope/three-axis magnetometer-integrated attitude estimation model is established so as to improve the accuracy of micro-electro mechanical system gyroscope. Thanks to the concealment and autonomy, these two low cost sensors have great potential in the military area. Second, taking advantage of optimal problem in coping with constraints, a real time moving horizon estimation algorithm with equality constraint is designed to deal with the disability of solving quaternion normalization analytically in the frame work of Kalman. In this algorithm, Gauss-Newton iterative method is used to obtain the optimal state estimation in the Meanwhile, strong tracking filter of arrival cost is designed outside of the window to enhance system robustness for that three-axis magnetometer is vulnerable to external interference. Third, the proposed MHE is applied in the micro-electro mechanical system gyroscope/three-axis magnetometer attitude estimation system. The simulation results show that the method has higher accuracy and robustness.

• 出版日期2017-6
• 单位中国人民解放军海军航空工程学院