Journal of National University of Defense Technology 1001-2486 2013 35 6 46 52 article Multiplicative filtering for spacecraft attitude determination 乘性扩展卡尔曼滤波(Multiplicative Extended Kalman Filter, MEKF)方法被广泛应用于各种航天器姿态确定任务。针对任意参考坐标系，推导了姿态四元数的线性运动学方程和三分量姿态误差矢量的动力学模型，并分别设计了有陀螺和无陀螺两种姿态确定方案。系统研究了姿态敏感器常用的矢量观测模型，四元数观测模型以及欧拉角观测模型，设计了更具有一般性的MEKF滤波器，为航天任务中快速应用MEKF姿态确定算法提供理论参考和技术支撑。 Multiplicative extended Kalman filter (MEKF) has been widely applied in the vast majority of spacecraft attitude determination missions. For the arbitrary reference frame, the linear quaternion kinematics equation and the dynamical model of three-component attitude errors were formulated, and gyro-aided and gyro-free attitude determination schemes were designed. The typical basic equation of the MEKF was developed, including the detailed models for vector measurements, quaternion measurements and Euler angle measurements. The research can provide theory reference and technique support for spacecraft missions. 航天器；姿态确定；乘性扩展卡尔曼滤波；无陀螺姿态确定系统；欧拉角观测模型 spacecraft; attitude determination; MEKF(Multiplicative Extended Kalman Filter); gyro-free attitude determination system; Euler angle measurement model 张力军,张士峰,杨华波,钱山 ZHANG Lijun,ZHANG Shifeng,YANG Huabo and QIAN Shan http://journal.nudt.edu.cn/gfkjdxxb/article/abstract/201306009