APM飞控的扩展kalman滤波21、22、23、24个状态量

最新推荐文章于 2024-11-12 17:05:25 发布

原创最新推荐文章于 2024-11-12 17:05:25 发布 · 934 阅读

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本文详细介绍了惯性导航系统中滤波器的状态估计过程，包括了21、22、23及24种不同状态的具体内容。通过对比不同状态的数量与组成，帮助读者更好地理解惯性测量单元（IMU）在导航系统中的作用。

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The filter estimates the following states: 4 quaternion parameters 3 North,East,Down velocity components 3 North,East,Down position components 3 IMU delta angle bias components 2 IMU delta velocity bias in X and Y (only included in 24 state derivation) 1 IMU delta velocity bias in Z (only included in the 22 and 23 state derivation) 2 North,East wind velocity components 3 North,East,Down earth magnetic flux components 3 X,Y,Z body fixed magnetic flux components (these are opposite sign to the compass offsets used by APM) 1 Offset of terrain along down axis (only included in the 23 state filter derivation)

% State vector:状态向量% attitude quaternion

% Velocity - m/sec (North, East, Down)

% Position - m (North, East, Down)

% Delta Angle bias - rad (X,Y,Z)

% Delta Velocity bias - m/s (X,Y,Z)

% Earth Magnetic Field Vector - (North, East, Down)

% Body Magnetic Field Vector - (X,Y,Z)

% Wind Vector - m/sec (North,East)

    [0 ... 3] 四元数
    [4 ... 6] 速度 NED (m/s)
    [7 ... 9] 位置 NED (m)
    [10 ... 12] IMU 角度增量偏差 XYZ (rad)
    [13 ... 15] IMU 速度增量偏差 XYZ (m/s)
    [16 ... 18] 地球磁场 NED (gauss)
    [19 ... 21] 机体磁场 XYZ (gauss)
    [22 ... 23] 风速 NE (m/s)

其实上面的话可以理解为21与24个状态的区别在于24个状态包含了Delta Velocity bias - m/s (X,Y,Z)这个三个量，其它的都一样，22个状态是在21个状态中增加了z(IMU delta velocity bias in Z),

23三个状态就是在22个状态中增加了Offset of terrain along down axis