Estimation of Quaternion Motion for GPS-Based Attitude Determination Using the Extended Kalman Filter

作     者：Dah-Jing Jwo 

作者机构：Department of CommunicationsNavigation and Control EngineeringTaiwan Ocean UniversityKeelung202-24Taiwan 

出 版 物：《Computers, Materials & Continua》 (计算机、材料和连续体（英文）)

年 卷 期：2021年第66卷第2期

页      面：2105-2126页

核心收录：

学科分类：07[理学] 0701[理学-数学] 070101[理学-基础数学] 

基　　金：the Ministry of Science and Technology of the Republic of China[Grant No.MOST 108-2221-E-019-013] 

主　　题：Global positioning system(GPS) quaternion extended Kalman filter attitude determination 

摘      要：In this paper,the Global Positioning System(GPS)interferometer provides the preliminarily computed quaternions,which are then employed as the measurement of the extended Kalman filter(EKF)for the attitude determination *** estimated quaternion elements from the EKF output with noticeably improved precision can be converted to the Euler angles for navigation *** aim of the study is ***,the GPS-based computed quaternion vector is utilized to avoid the singularity ***,the quaternion estimator based on the EKF is adopted to improve the estimation *** of the unknown baseline vector between the antennas sits at the heart of GPS-based attitude *** utilization of the carrier phase observables enables the relative positioning to achieve centimeter level accuracy,however,the quaternion elements derived from the GPS interferometer are inherently *** is due to the fact that the baseline vectors estimated by the least-squares method are based on the raw double-differenced *** of the transformation matrix is accessible according to the estimate of baseline vectors and thereafter the computed quaternion elements can be *** the Euler angle method,the process becomes meaningless when the angles are at 90where the singularity problem occurs.A good alternative is the quaternion approach,which possesses advantages over the equivalent Euler angle based transformation since they apply to all *** results on the attitude estimation performance based on the proposed method will be presented and compared to the conventional *** results presented in this paper elucidate the superiority of proposed algorithm.