Three-axis attitude determination from incomplete two vector observations

被引：0
|
作者：
Tan C. [1 ]
Gao X. [1 ]
Xu G. [1 ]
Chen S. [1 ]
机构：
[1] School of Automation, Nanjing University of Posts and Telecommunications, Nanjing
来源：
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2018年 / 39卷 / 11期
关键词：
Attitude determination; Initial alignment; Vector observation; Wahba;
D O I：
10.19650/j.cnki.cjsi.J1803630
中图分类号：
学科分类号：
摘要：
Attitude determination algorithms based on multiple vector observations mainly include triaxial attitude determination (TRIAD) algorithm and Wahba problem-based optimal attitude determination algorithm. These algorithms require at least two non-collinear vector complete observation information. In fact, the complete observation information of the two non-collinear vectors is information redundant for determining the pose. Based on the geometric principle, this paper proposes the simplest pose determination algorithm for given incomplete double vector observation information. It only needs to contain three elements of two non-collinear vectors and limited information (such as symbols or rough values) of some of the remaining three elements to determine the attitude. The effectiveness of the proposed algorithm is verified by the experiment. The simplest pose determination algorithm has potential application value in self-calibration, equipment self-test, and optimization of the attitude determination algorithm. © 2018, Science Press. All right reserved.
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页码：140 / 146
页数：6
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