Unscented Kalman filter for spacecraft attitude estimation using modified Rodrigues parameters and real data

被引：12

作者：

Garcia, Roberta Veloso ^{[1
]}

Oliveira Matos, Nicholas de Freitas ^{[2
]}

Kuga, Helio Koiti ^{[3
]}

Zanardi, Maria Cecilia ^{[4
]}

机构：

[1] Univ Sao Paulo, Lorena Sch Engn, Estr Municipal Campinho S-N, BR-12602810 Lorena, SP, Brazil

[2] Natl Inst Space Res, Ave Astronautas 1758, BR-12227010 Sao Jose Dos Campos, SP, Brazil

[3] Sao Paulo Univ UNESP, Ave Ariberto Pereira da Cunha 333, BR-12516410 Guaratingueta, SP, Brazil

[4] Fed Univ ABC, Ave Estados 5001, BR-09210580 Santo Andre, SP, Brazil

来源：

COMPUTATIONAL & APPLIED MATHEMATICS | 2016年 / 35卷 / 03期

基金：

巴西圣保罗研究基金会;

关键词：

Attitude estimation; Real data; Unscented Kalman filter; Quaternion; Modified Rodrigues parameters;

D O I：

10.1007/s40314-015-0269-5

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

In this paper, a sigma-point Kalman filter formulation for attitude estimation is derived using the modified Rodrigues parameters and real data of attitude sensors. The unscented Kalman filter algorithm is used for attitude estimation and the gyro-based model is considered for attitude propagation. In this study, the attitude of satellite is estimated using real data supplied by gyros, Earth sensors and Sun sensors that are on board of the CBERS-2 (China Brazil Earth Resources Satellite). The results show that even with a sparse set of measures, the UKF with MRP shows results similar to those obtained when directly uses the Euler angles.

引用

页码：835 / 846

页数：12

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