A robust strong tracking cubature Kalman filter for spacecraft attitude estimation with quaternion constraint

Huang, Wei; Xie, Hui; Shen, Chen; Li, Jinpeng

doi:10.1016/j.actaastro.2016.01.009

Cited by 51 publications

(34 citation statements)

References 26 publications

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“…Feng et al [15] combined strong tracking filtering (STF) [14] with the seventh-degree SSRCKF to obtain higher accuracy. Huang et al [16] combined strong tracking theory with CKF to solve the problem of spacecraft attitude estimation, but the algorithm demands three times of volume point sampling calculations. Hua et al [17] proposed the strong tracking spherical simplex-radial CKF (STSSRCKF) algorithm to deal with sudden changes of the target state.…”

Section: Introductionmentioning

confidence: 99%

A Strong Tracking Mixed-Degree Cubature Kalman Filter Method and Its Application in a Quadruped Robot

Liu

Wang

Guo

et al. 2020

Sensors

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The motion state of a quadruped robot in operation changes constantly. Due to the drift caused by the accumulative error, the function of the inertial measurement unit (IMU) will be limited. Even though multi-sensor fusion technology is adopted, the quadruped robot will lose its ability to respond to state changes after a while because the gain tends to be constant. To solve this problem, this paper proposes a strong tracking mixed-degree cubature Kalman filter (STMCKF) method. According to system characteristics of the quadruped robot, this method makes fusion estimation of forward kinematics and IMU track. The combination mode of traditional strong tracking cubature Kalman filter (TSTCKF) and strong tracking is improved through demonstration. A new method for calculating fading factor matrix is proposed, which reduces sampling times from three to one, saving significantly calculation time. At the same time, the state estimation accuracy is improved from the third-degree accuracy of Taylor series expansion to fifth-degree accuracy. The proposed algorithm can automatically switch the working mode according to real-time supervision of the motion state and greatly improve the state estimation performance of quadruped robot system, exhibiting strong robustness and excellent real-time performance. Finally, a comparative study of STMCKF and the extended Kalman filter (EKF) that is commonly used in quadruped robot system is carried out. Results show that the method of STMCKF has high estimation accuracy and reliable ability to cope with sudden changes, without significantly increasing the calculation time, indicating the correctness of the algorithm and its great application value in quadruped robot system.

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Section: Introductionmentioning

confidence: 99%

A Strong Tracking Mixed-Degree Cubature Kalman Filter Method and Its Application in a Quadruped Robot

Liu

Wang

Guo

et al. 2020

Sensors

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show abstract

“…Either the prediction or correction step may involve nonlinear mathematics, and thus nonlinear KFs had been proposed, e.g., the extended Kalman filter (EKF), unscented Kalman filter (UKF) [ 2 ], and cubature Kalman filter (CKF) [ 39 , 40 ]. Meanwhile, since there are various representations of 3D attitude

, such as Euler angles (i.e., heading, pitch, and roll), quaternion, direction cosine matrix (DCM), and even the vectors

and

[ 41 , 42 ], they also lead to numerous attitude filters.…”

Section: Previous Workmentioning

confidence: 99%

External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

Wang

2020

Micromachines

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The attitude and heading reference system (AHRS), which consists of tri-axial magnetometer, accelerometer, and gyroscope, has been widely adopted for three-dimensional attitude determination in recent years. It provides an economical means of passive navigation that only relies on gravity and geomagnetic fields. However, despite the advantages of small size, low cost, and low power, the magnetometer and accelerometer are susceptible to external disturbances, such as the magnetic interference from nearby ferromagnetic objects and current-carrying conductors, as well as the motional acceleration of the carrier. To eliminate such disturbances, a vector-based parallel structure is introduced for the attitude filter design, which can avoid the mutual interference between gravity and geomagnetic vectors. Meanwhile, an approach to estimate and compensate the external disturbances in real time for magnetometer and accelerometer is also presented. Compared with existing designs, the proposed filter architecture and external disturbance rejection algorithm can feasibly and effectively cooperate with mainstream data fusion techniques, including complementary filter and Kalman filter. According to experiment results, in the case that large and persistent external disturbances exist, the proposed method can improve the accuracy and robustness of attitude estimation, and it outperforms the existing methods such as switching filter and adaptive filter. Furthermore, through the experiments, the critical role of fading factor in handling the external disturbance is revealed.

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“…In order to guarantee the convergence of the filter, certain accuracy can be sacrificed for the filtering stability, such as increasing the process noise of the system and observing the noise variance matrix, while a large number of un-modeled errors are included, the algorithm is simple and reliable. The strong tracking Kalman filter algorithm is put forward [15][16][17] , in front of the state estimation error covariance matrix is multiplied by a weighted coefficient…”

Section: Strong Tracking Kalman Filter Algorithmmentioning

confidence: 99%

Automatic cruise system for water quality monitoring

Zhu

Liu

Chen

et al. 2018

International Journal of Agricultural and Biological Engineering

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The range of unit fixed-point measurement on water quality monitoring system is limited, and the cost for multipoint measurement is high. In order to solve these problems, the automatic cruise system for water quality monitoring was designed. Sage-Husa adaptive Kalman filtering algorithm was adopted to correct the error in GPS positioning. The boat was equipped with ship control module, water quality parameters acquisition module, power-supply module, GPS module and GPRS-DTU packet data transmission module. An Android application was developed so that individual users can use smartphone to communicate with the boat at all time and places. The results show that the boat can basically cruise in the set route to monitor the water quality. In a 4 m 2 aquatic plants areas, the dissolved oxygen monitored in different time were about 10.2%, 8.5% and 8.3%, respectively, higher than other areas, and the pH values were 4.1%, 3.8% and 3.7% higher than those in other waters, which shown that plants photosynthesis released oxygen consumption of carbon dioxide will affect the dissolved oxygen content and pH value. This system can widen the measurement range, and lower the measuring cost that can be widely used in the water quality monitoring in aquaculture and river management.

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A robust strong tracking cubature Kalman filter for spacecraft attitude estimation with quaternion constraint

Cited by 51 publications

References 26 publications

A Strong Tracking Mixed-Degree Cubature Kalman Filter Method and Its Application in a Quadruped Robot

A Strong Tracking Mixed-Degree Cubature Kalman Filter Method and Its Application in a Quadruped Robot

External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

Automatic cruise system for water quality monitoring

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