基于Partial-EIV模型的TLS姿态估计方法

推导了基于乘性姿态角误差的观测方程,顾及其系数矩阵也含有误差的特点提出一种利用整体最小二乘原理估计姿态参数的新思路。该问题的系数矩阵中同时存在随机元素和固定元素且存在结构性特征,故引入Partial-EIV模型,设计了一种符合其系数矩阵结构特点的新模型。最后通过两组仿真实验将其与已有姿态估计方法进行对比,得出结论:基于Partial-EIV模型的整体最小二乘解法解算精度高于常规最小二乘法;其解算效果与基于乘性姿态角误差的最小二乘法基本一致。表明本文提出的方法正确有效。

TLS Attitude Estimate Method Based on Partial-EIV Model

At first the observation equation based on multiplicative attitude error is deduced.Then based on the design matrix's feature of containing error,a new method of estimating attitude parameters via total least squares is introduced in this paper.In this problem,both random elements and stable elements exist in the design matrix in which there is a structural feature.Hence,Partial-EIV model is introduced and a new model conforming to the structural feature of the design matrix is developed.The new method is comPared with those existing methods via two simulated experiments.Finally,it is concluded that the precision of the total least squares method based on Partial-EIV model is higher than that of conventional least squares method,and its solution effect is almost the same as that of the multiplicative attitude error based least squares methods.Such results prove that the validity,rationality and applicability of the new method.