论文标题
SE（3）用于航天器态度估计的基于扩展的Kalman滤波器
SE(3) based Extended Kalman Filter for Spacecraft Attitude Estimation
论文作者
论文摘要
在本文中，已经研究了使用矩阵谎言组的概念来研究航天器态度估计问题。通过将态度和陀螺仪偏置作为SE（3）的元素的表述，已经得出了相应的扩展Kalman滤波器，称为SE（3）-EKF。结果表明，所得的SE（3）-EKF只是航天器态度估计的新衍生的几何扩展卡尔曼滤波器（GEKF）。除了常见的帧错误定义外，这还提供了GEKF的新观点。此外，还得出了带有参考框架态度误差的SE（3）-EKF，所得算法与正确的不变EKF具有很大相似之处。
In this paper, the spacecraft attitude estimation problem has been investigated making use of the concept of matrix Lie group. Through formulation of the attitude and gyroscope bias as elements of SE(3), the corresponding extended Kalman filter, termed as SE(3)-EKF, has been derived. It is shown that the resulting SE(3)-EKF is just the newly-derived geometric extended Kalman filter (GEKF) for spacecraft attitude estimation. This provides a new perspective on the GEKF besides the common frame errors definition. Moreover, the SE(3)-EKF with reference frame attitude error is also derived and the resulting algorithm bears much resemblance to the right invariant EKF.
