An improved quaternion Gauss-Newton algorithm for attitude determination using magnetometer and accelerometer

作者：Liu Fei; Li Jie^*; Wang Haifu; Liu Chang

来源：Chinese Journal of Aeronautics, 2014, 27(4): 986-993.

DOI：10.1016/j.cja.2014.03.005

• Accelerometer
• Attitude determination
• Gauss-Newton algorithm
• Magnetometer
• Measurements

For the vector attitude determination, the traditional optimal algorithms which are based on quaternion estimator (QUEST) measurement noise model are complicated for just two observations. In our application, the magnetometer and accelerometer are not two comparable kinds of sensors and both are not small field-of-view sensors as well. So in this paper a new unit measurement model is derived. According to the Wahba problem, the optimal weights for each measurement are obtained by the error variance researches. Then an improved quaternion Gauss-Newton method is presented and adopted to acquire attitude. Eventually, simulation results and experimental validation employed to test the proposed method demonstrate the usefulness of the improved algorithm.

• 出版日期2014-8
• 单位北京理工大学