Proceedings ArticleDOI
Precision attitude determination for multimission spacecraft
J. W. Murrell
- pp 70-87
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TLDR
In this paper, the attitude determination algorithm for a multimission spacecraft is derived and their performance is analyzed, and the results of a star availability analysis for stellar, solar and earth pointing missions are presented.Abstract:
Attitude determination algorithms for a multimission spacecraft are derived and their performance analyzed. The attitude determination system is composed of a strapdown Inertial Reference Unit (IRU), two fixed head star trackers, and an onboard computer. IRU data is processed to maintain real-time knowledge of spacecraft attitude relative to an inertial reference frame. Star tracker data is processed using Kalman filtering techniques to estimate and correct the attitude determination errors and the gyro drift compensation errors. The results of a star availability analysis for stellar, solar and earth pointing missions are presented. Linear covariance analysis techniques are used to evaluate nominal attitude determination performance, the effects of sensor measurement accuracy variations, the effects of errors in knowledge of sensor measurement accuracy, and the effects of star tracker misalignment errors. Results of a nonlinear simulation analysis of attitude determination performance are also presented. These analyses show that precision attitude determination for stellar, solar and earth pointing missions is achieved.read more
Citations
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Journal ArticleDOI
Kalman Filtering for Spacecraft Attitude Estimation
TL;DR: In this article, the authors present a review of the methods of Kalman filtering in attitude estimation and their development over the last two decades, focusing on three-axis gyros and attitude sensors.
Journal ArticleDOI
Survey of nonlinear attitude estimation methods
TL;DR: A survey of modern nonlinear filtering methods for attitude estimation based on the Gaussian assumption that the probability density function is adequately specified by its mean and covariance is provided.
Journal ArticleDOI
Attitude Error Representations for Kalman Filtering
TL;DR: In this paper, the authors consider various attitude error representations for the Multiplicative Extended Kalman Filter (MEFL) and its second-order extension, and compare them with a three-component representation for attitude errors.
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Kalman Filtering for Spacecraft System Alignment Calibration
TL;DR: In this paper, an absolute alignment error model and a gyro error model are derived and implemented in a Kalman e lter using UD factorization, where advantage is taken of the structure of the model to compute efe ciently the factors of the process noise matrix.
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Contact-aided invariant extended Kalman filtering for robot state estimation:
TL;DR: This work develops a contact-aided invariant extended Kalman filter (InEKF) using the theory of Lie groups and invariant observer design and demonstrates how to include IMU biases, add/remove contacts, and formulate both world-centric and robo-centric versions.
References
More filters
Journal ArticleDOI
A new method for performing digital control system attitude computations using quaternions
TL;DR: In this article, the control error is expressed as a quaternion and all coordinate system transformations are performed using quaternions, which can reduce computation time by more than 40% over the equivalent direction cosine matrix solution.
Proceedings ArticleDOI
Attitude determination for a strapdown inertial system using the Euler axis/angle and quaternion parameters
Spectral density measurements of gyro noise
TL;DR: In this article, power spectral density (PSD) was used to analyze the outputs of several gyros in the frequency range from 0.01 to 200 Hz and the results are described in terms of input angle noise (arcsec 2/Hz) and are presented on log-log plots of PSD.