b,b according to vehicle body axes; and determining the components of the noncollinear constant unit vectors {right arrow over (g)}t,{right arrow over (e)}t according to Earth's axes. The system further determines the three components of angular velocity b of the vehicle in body axes; corrects the angular velocity b with a correction uω and obtains a corrected angular velocity {circumflex over (ω)}b=b+uω; a control module implementing a control law to calculate the correction uω, where the control law is:uω=σ(b×ĝb+b×êb) [1]where σ is a positive scalar,;such that upon using the corrected angular velocity {circumflex over (ω)}b=b+uω as input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix {circumflex over (B)} and of the Euler angles {circumflex over (φ)} is bounded."/>
Sensor fusion system and method for estimating position, speed and orientation of a vehicle, in particular an aircraft
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Sensor fusion system and method for estimating position, speed and orientation of a vehicle, in particular an aircraft
Sensor fusion system and method for estimating position, speed and orientation of a vehicle, in particular an aircraft
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机译：用于估计车辆，特别是飞机的位置，速度和方向的传感器融合系统和方法
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摘要
This invention relates to a system for estimating the position, velocity and orientation of a vehicle, by determining the components of two noncollinear constant unit vectors b,b according to vehicle body axes; and determining the components of the noncollinear constant unit vectors {right arrow over (g)}t,{right arrow over (e)}t according to Earth's axes. The system further determines the three components of angular velocity b of the vehicle in body axes; corrects the angular velocity b with a correction uω and obtains a corrected angular velocity {circumflex over (ω)}b=b+uω; a control module implementing a control law to calculate the correction uω, where the control law is:uω=σ(b×ĝb+b×êb) [1]where σ is a positive scalar,;such that upon using the corrected angular velocity {circumflex over (ω)}b=b+uω as input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix {circumflex over (B)} and of the Euler angles {circumflex over (φ)} is bounded.
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机译：通过确定两个非共线常数单位向量的分量来估计车辆的位置，速度和方向的系统技术领域本发明涉及一种通过确定两个非共线常数单位向量的分量来估计车辆的位置，速度和方向的系统。 b ， b 根据车身轴线;并根据地球轴确定非共线常数单位向量的分量。 t ，{right（e）} t 。系统进一步确定角速度的三个分量。 b ;校正角速度 b 并用u ω进行校正，并获得校正后的角速度{circumflex over（ω）} b = <图像alt =“自定义字符” file =“ US07970500-20110628-P00003.GIF“ he =” 3.13mm“ imgContent =” character“ imgFormat =” GIF“ wi =” 1.78mm“ /> b + u ω ;控制模块，其执行控制定律以计算校正值u ω，其中控制定律为：<？in-line-formulae description =“ In-line Formulae” end =“ lead”？> u ω =σ（ b ×ĝ b + <图像alt =“自定义字符” file =“ US07970500-20110628-P00002.GIF” he =“ 3.13mm” imgContent =“ character” imgFormat =“ GIF” wi =“ 1.78mm “ /> b Xê b ）[1] <？in-line-formulae description =” In-line Formulae“ end =”尾巴”？>其中σ为正标量，;以至于在使用校正的角速度后， b = <图像alt =“自定义字符” file =“ US07970500-20110628-P00003.GIF” he =“ 3.13mm” imgContent =“ character” imgFormat =“ GIF” wi =“ 1.78mm” /> b + u ω作为用于集成运动方程的模块的输入，后者是在ISS意义上是稳定的，方向余弦矩阵和欧拉角的估计误差是有界的。
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