Title :
Application of federated UKF in MIMU/satellite integrated attitude determination
Author :
Zhang Ai-Jun ; Yuan Yao-dong ; Song Gao-shun ; Wang Chang-Ming
Author_Institution :
Sch. of Mech. Eng., Nanjing Univ. of Sci. & Technol., Nanjing, China
Abstract :
A method of MIMU/satellite ultra-tightly integrated attitude determination is proposed in this paper. Due to the MIMU and the satellite attitude measurement system with two or several receiving antennas are all able to provide the information of location, speed and attitude of carrier, a federated filtering structure is designed, in which the unscented kalman filter is applied in the local filter and redundant sensor information is used to improve the carrier gesture angle estimation accuracy. Simulation results show that the method has high precision and good reliability.
Keywords :
Kalman filters; attitude measurement; measurement systems; nonlinear filters; receiving antennas; satellite antennas; MIMU-satellite integrated attitude determination; MIMU-satellite ultratightly integrated attitude determination; UKF; carrier gesture angle estimation accuracy; federated filtering structure; local filter; receiving antennas; redundant sensor information; satellite attitude measurement system; unscented kalman filter; Accelerometers; Equations; Information filters; Mathematical model; Position measurement; Satellites; Federated UKF; MIMU; fusion; integrated attitude determination;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
