Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning Aircraft
A novel H∞ filter called square-root cubature H∞ Kalman filter is proposed for attitude measurement of high-spinning aircraft. In this method, a combined measurement model of three-axis geomagnetic sensor and gyroscope is used, and the Euler angle algorithm model is used to reduce the state dimensio...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/5589691 |
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| author | Ping-an Zhang Wei Wang Min Gao Yi Wang |
| author_facet | Ping-an Zhang Wei Wang Min Gao Yi Wang |
| author_sort | Ping-an Zhang |
| collection | DOAJ |
| description | A novel H∞ filter called square-root cubature H∞ Kalman filter is proposed for attitude measurement of high-spinning aircraft. In this method, a combined measurement model of three-axis geomagnetic sensor and gyroscope is used, and the Euler angle algorithm model is used to reduce the state dimension and linearize the state equation, which can reduce the amount of calculation. Simultaneously, the method can be applied to the case of measurement noise uncertainty. By continuously modifying the error limiting parameters to update the measurement noise estimation, the filtering accuracy and robustness can be improved. The square-root forms enjoy a consistently improved numerical stability because all the resulting covariance matrices by QR decomposition are guaranteed to stay positive semidefinite. The algorithm is applied to the simulation experiment of attitude measurement with the combination of geomagnetic sensor and gyroscope and compared with the results of Unscented Kalman filter, cubature Kalman filter, square root cubature Kalman filter, and singular value decomposition cubature Kalman filter, which proves the effectiveness and superiority of the algorithm. |
| format | Article |
| id | doaj-art-c2d89447d10b4fbfb86c14d51de113c5 |
| institution | OA Journals |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-c2d89447d10b4fbfb86c14d51de113c52025-08-20T02:19:01ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742021-01-01202110.1155/2021/55896915589691Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning AircraftPing-an Zhang0Wei Wang1Min Gao2Yi Wang3Shijiazhuang Campus of PLA Army Engineering University, Shijiazhuang 050003, ChinaShijiazhuang Campus of PLA Army Engineering University, Shijiazhuang 050003, ChinaShijiazhuang Campus of PLA Army Engineering University, Shijiazhuang 050003, ChinaShijiazhuang Campus of PLA Army Engineering University, Shijiazhuang 050003, ChinaA novel H∞ filter called square-root cubature H∞ Kalman filter is proposed for attitude measurement of high-spinning aircraft. In this method, a combined measurement model of three-axis geomagnetic sensor and gyroscope is used, and the Euler angle algorithm model is used to reduce the state dimension and linearize the state equation, which can reduce the amount of calculation. Simultaneously, the method can be applied to the case of measurement noise uncertainty. By continuously modifying the error limiting parameters to update the measurement noise estimation, the filtering accuracy and robustness can be improved. The square-root forms enjoy a consistently improved numerical stability because all the resulting covariance matrices by QR decomposition are guaranteed to stay positive semidefinite. The algorithm is applied to the simulation experiment of attitude measurement with the combination of geomagnetic sensor and gyroscope and compared with the results of Unscented Kalman filter, cubature Kalman filter, square root cubature Kalman filter, and singular value decomposition cubature Kalman filter, which proves the effectiveness and superiority of the algorithm.http://dx.doi.org/10.1155/2021/5589691 |
| spellingShingle | Ping-an Zhang Wei Wang Min Gao Yi Wang Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning Aircraft International Journal of Aerospace Engineering |
| title | Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning Aircraft |
| title_full | Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning Aircraft |
| title_fullStr | Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning Aircraft |
| title_full_unstemmed | Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning Aircraft |
| title_short | Square-Root Cubature Kalman Filter Based on H∞ Filter for Attitude Measurement of High-Spinning Aircraft |
| title_sort | square root cubature kalman filter based on h∞ filter for attitude measurement of high spinning aircraft |
| url | http://dx.doi.org/10.1155/2021/5589691 |
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