用容积卡尔曼滤波算法进行集装箱吊具姿态估计

摘要

为提高非线性模型下集装箱吊具姿态的估计精度，建立一个基于四元数和低精度高噪声传感器的集装箱吊具姿态估计非线性模型，运用容积卡尔曼滤波算法进行姿态估计。试验数据与高精度姿态传感器数据比较表明，采用容积卡尔曼滤波算法可以有效提高集装箱吊具姿态估计精度和稳定性。%In order to improve the estimation accuracy of container spreader attitude in a nonlinear mod-el,a nonlinear model based on the quaternion and the sensor with low accuracy and high noise is estab-lished to estimate the container spreader attitude by the Cubature Kalman Filtering (CKF)algorithm. Through comparing the test data with the high-accuracy attitude sensor data,it shows that the CKF algo-rithm can effectively improve the accuracy and stability of the container spreader attitude estimation.