Electronics Optics & Control, Volume. 20, Issue 7, 53(2013)
LowCost Attitude Estimation Based on Extended Kalman Filter for SatcomontheMove
A lowcost attitude estimation method using Extended Kalman Filter (EKF) was proposed for satcomonthemove (SOTM)which taking Quaternion as state variablesand the attitude information was estimated by fusing the angular output of gyrosthe acceleration output of accelerometers and the position and velocity output of twoantenna GPS.The GPSmeasured velocity was used to compensate for the maneuvering accelerationand the sideslip angle was used to further correct the maneuvering acceleration when the vehicle was turning.Experiment results show that the proposed method can combine together the good shortterm accuracy of gyrosthe good longterm stability of accelerometersand the precise position and velocity of GPSwhich is feasible for attitude stabilization of SOTM with the dynamic estimation error controlled within ±0.5°.
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YAN Linbo, JIA Weimin, YAO Minli, SHEN Xiaowei. LowCost Attitude Estimation Based on Extended Kalman Filter for SatcomontheMove[J]. Electronics Optics & Control, 2013, 20(7): 53
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Received: Jul. 27, 2012
Accepted: --
Published Online: Jul. 9, 2013
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