A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation

FU Jian-guo; WANG Xiao-tong; JIN Liang-an; MA Ye

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A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation

更新时间：2025-07-16

- A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation
- Acta Electronica Sinica Vol. 33, Issue 3, Pages: 567-570(2005)
- 作者机构：
  
  海军大连舰艇学院航海系,辽宁,大连,116018
- 作者简介：
- 基金信息：
- DOI：
  CLC： U666.1V447
- Published：2005
- 稿件说明：
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FU Jian-guo, WANG Xiao-tong, JIN Liang-an, et al. A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation[J]. Acta Electronica Sinica, 2005, 33(3): 567-570.
DOI：

FU Jian-guo, WANG Xiao-tong, JIN Liang-an, et al. A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation[J]. Acta Electronica Sinica, 2005, 33(3): 567-570. DOI：

摘要

本文分析了基于地球重力场和磁场矢量观测进行姿态测量的算法存在的不足

提出了一种新的基于四元数的递推优化估计算法

算法本身内蕴保证了四元数估计值具有单位长度

在结合载体动态实现递推估计的同时

消除了现有递推算法中要求准确已知当地地磁矢量的限制

并可同步提供载体姿态的角速率信息.仿真结果表明了所提算法可以明显地提高测量精度.

Abstract

To cover the shortage of the existing attitude determination algorithms based on the gravitational field and geomagnetic field vectors observation

a new quaternion-based recursive optimal estimation algorithm is proposed.The unit length of the estimated quaternion is guarantied inherently in the new algorithm.The algorithm eliminates the limitation of knowing the exact geomagnetic field vector which is required in the former recursive estimation algorithms.And the attitude-rate information can be synchronously provided.The simulation results show that the presented method can markedly improve the measuring accuracy.

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