An Extended Kalman Filter For Quaternion Based Attitude Estimation

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An Extended Kalman Filter for Quaternion-Based Attitude Estimation

Author : Joao L. Marins
Publisher :
ISBN 13 : 9781423533122
Total Pages : 111 pages
Book Rating : 4.5/5 (331 download)

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Book Synopsis An Extended Kalman Filter for Quaternion-Based Attitude Estimation by : Joao L. Marins

Download or read book An Extended Kalman Filter for Quaternion-Based Attitude Estimation written by Joao L. Marins and published by . This book was released on 2000-09-01 with total page 111 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis develops an extended Kalman filter for real-time estimation of rigid body motion altitude. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with those angles. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are in turn integrated to obtain quaternions. The outputs of the model are values of three-dimensional angular rates, three-dimensional linear accelerations, and three-dimensional magnetic field vector. Gauss-Newton iteration is utilized to find the best quaternion that relates the measured linear accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The quaternion obtained from the optimization algorithm is used as part of the observations for the Kalman filter. As a result, the measurement equations become linear. A new approach to attitude estimation is introduced in this thesis. The computational requirements related to the extended Kalman filter developed using this approach are significantly reduced, making it possible to estimate attitude in real-time. Extensive static and dynamic simulation of the filter using Matlab proved it to be robust. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track attitude.

Multisensor Attitude Estimation

Author : Hassen Fourati
Publisher : CRC Press
ISBN 13 : 1315351757
Total Pages : 757 pages
Book Rating : 4.3/5 (153 download)

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Book Synopsis Multisensor Attitude Estimation by : Hassen Fourati

Download or read book Multisensor Attitude Estimation written by Hassen Fourati and published by CRC Press. This book was released on 2016-11-03 with total page 757 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.

Fundamentals of Spacecraft Attitude Determination and Control

Author : F. Landis Markley
Publisher : Springer
ISBN 13 : 1493908022
Total Pages : 486 pages
Book Rating : 4.4/5 (939 download)

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Book Synopsis Fundamentals of Spacecraft Attitude Determination and Control by : F. Landis Markley

Download or read book Fundamentals of Spacecraft Attitude Determination and Control written by F. Landis Markley and published by Springer. This book was released on 2014-05-31 with total page 486 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores topics that are central to the field of spacecraft attitude determination and control. The authors provide rigorous theoretical derivations of significant algorithms accompanied by a generous amount of qualitative discussions of the subject matter. The book documents the development of the important concepts and methods in a manner accessible to practicing engineers, graduate-level engineering students and applied mathematicians. It includes detailed examples from actual mission designs to help ease the transition from theory to practice and also provides prototype algorithms that are readily available on the author’s website. Subject matter includes both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It provides detailed derivations for attitude kinematics and dynamics and provides detailed description of the most widely used attitude parameterization, the quaternion. This title also provides a thorough treatise of attitude dynamics including Jacobian elliptical functions. It is the first known book to provide detailed derivations and explanations of state attitude determination and gives readers real-world examples from actual working spacecraft missions. The subject matter is chosen to fill the void of existing textbooks and treatises, especially in state and dynamics attitude determination. MATLAB code of all examples will be provided through an external website.

Spacecraft Modeling, Attitude Determination, and Control

Author : Yaguang Yang
Publisher : CRC Press
ISBN 13 : 0429822138
Total Pages : 159 pages
Book Rating : 4.4/5 (298 download)

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Book Synopsis Spacecraft Modeling, Attitude Determination, and Control by : Yaguang Yang

Download or read book Spacecraft Modeling, Attitude Determination, and Control written by Yaguang Yang and published by CRC Press. This book was released on 2019-02-06 with total page 159 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses all spacecraft attitude control-related topics: spacecraft (including attitude measurements, actuator, and disturbance torques), modeling, spacecraft attitude determination and estimation, and spacecraft attitude controls. Unlike other books addressing these topics, this book focuses on quaternion-based methods because of its many merits. The book lays a brief, but necessary background on rotation sequence representations and frequently used reference frames that form the foundation of spacecraft attitude description. It then discusses the fundamentals of attitude determination using vector measurements, various efficient (including very recently developed) attitude determination algorithms, and the instruments and methods of popular vector measurements. With available attitude measurements, attitude control designs for inertial point and nadir pointing are presented in terms of required torques which are independent of actuators in use. Given the required control torques, some actuators are not able to generate the accurate control torques, therefore, spacecraft attitude control design methods with achievable torques for these actuators (for example, magnetic torque bars and control moment gyros) are provided. Some rigorous controllability results are provided. The book also includes attitude control in some special maneuvers, such as orbital-raising, docking and rendezvous, that are normally not discussed in similar books. Almost all design methods are based on state-spaced modern control approaches, such as linear quadratic optimal control, robust pole assignment control, model predictive control, and gain scheduling control. Applications of these methods to spacecraft attitude control problems are provided. Appendices are provided for readers who are not familiar with these topics.

Optimal and Robust Estimation

Author : Frank L. Lewis
Publisher : CRC Press
ISBN 13 : 1420008293
Total Pages : 546 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Optimal and Robust Estimation by : Frank L. Lewis

Download or read book Optimal and Robust Estimation written by Frank L. Lewis and published by CRC Press. This book was released on 2017-12-19 with total page 546 pages. Available in PDF, EPUB and Kindle. Book excerpt: More than a decade ago, world-renowned control systems authority Frank L. Lewis introduced what would become a standard textbook on estimation, under the title Optimal Estimation, used in top universities throughout the world. The time has come for a new edition of this classic text, and Lewis enlisted the aid of two accomplished experts to bring the book completely up to date with the estimation methods driving today's high-performance systems. A Classic Revisited Optimal and Robust Estimation: With an Introduction to Stochastic Control Theory, Second Edition reflects new developments in estimation theory and design techniques. As the title suggests, the major feature of this edition is the inclusion of robust methods. Three new chapters cover the robust Kalman filter, H-infinity filtering, and H-infinity filtering of discrete-time systems. Modern Tools for Tomorrow's Engineers This text overflows with examples that highlight practical applications of the theory and concepts. Design algorithms appear conveniently in tables, allowing students quick reference, easy implementation into software, and intuitive comparisons for selecting the best algorithm for a given application. In addition, downloadable MATLAB® code allows students to gain hands-on experience with industry-standard software tools for a wide variety of applications. This cutting-edge and highly interactive text makes teaching, and learning, estimation methods easier and more modern than ever.

Analysis and Comparison of Extended and Unscented Kalman Filtering Methods for Spacecraft Attitude Determination

Author : Orlando X. Diaz
Publisher :
ISBN 13 :
Total Pages : 117 pages
Book Rating : 4.:/5 (698 download)

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Book Synopsis Analysis and Comparison of Extended and Unscented Kalman Filtering Methods for Spacecraft Attitude Determination by : Orlando X. Diaz

Download or read book Analysis and Comparison of Extended and Unscented Kalman Filtering Methods for Spacecraft Attitude Determination written by Orlando X. Diaz and published by . This book was released on 2010 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt: Two methods of estimating the attitude position of a spacecraft are examined in this thesis: the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). In particular, the UnScented QUaternion Estimator (USQUE) derived from [4] is implemented into a spacecraft model. For generalizations about the each of the filters, a simple problem is initially solved. These solutions display typical characteristics of each filter type. The UKF is very attractive in spacecraft attitude estimation, given that spacecraft dynamics are highly nonlinear. For nonlinear systems, the UKF is of particular interest because it uses a carefully selected set of sample points that more accurately map the probability distribution than the linearization of the standard extended Kalman filter. This leads to faster convergence of the attitude solution from largely inaccurate initial conditions. The filter created in this thesis is formulated based on Markley and Crassidis's work on standard attitude-vector measurements using a gyro-based model for attitude propagation. From the standard attitude vector measurements, the global attitude parameterization is found and given by a quaternion, while a generalized three-dimensional attitude representation is used to define the local attitude error. The multiplicative quaternion-error is then found from the local error. The simulation results indicate that the unscented filter is more robust than the extended Kalman filter.

INS/CNS/GNSS Integrated Navigation Technology

Author : Wei Quan
Publisher : Springer
ISBN 13 : 366245159X
Total Pages : 381 pages
Book Rating : 4.6/5 (624 download)

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Book Synopsis INS/CNS/GNSS Integrated Navigation Technology by : Wei Quan

Download or read book INS/CNS/GNSS Integrated Navigation Technology written by Wei Quan and published by Springer. This book was released on 2015-01-22 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book not only introduces the principles of INS, CNS and GNSS, the related filters and semi-physical simulation, but also systematically discusses the key technologies needed for integrated navigations of INS/GNSS, INS/CNS, and INS/CNS/GNSS, respectively. INS/CNS/GNSS integrated navigation technology has established itself as an effective tool for precise positioning navigation, which can make full use of the complementary characteristics of different navigation sub-systems and greatly improve the accuracy and reliability of the integrated navigation system. The book offers a valuable reference guide for graduate students, engineers and researchers in the fields of navigation and its control. Dr. Wei Quan, Dr. Jianli Li, Dr. Xiaolin Gong and Dr. Jiancheng Fang are all researchers at the Beijing University of Aeronautics and Astronautics.

Introduction to Avionics Systems

Author : R.P.G. Collinson
Publisher : Springer Science & Business Media
ISBN 13 : 1441974660
Total Pages : 502 pages
Book Rating : 4.4/5 (419 download)

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Book Synopsis Introduction to Avionics Systems by : R.P.G. Collinson

Download or read book Introduction to Avionics Systems written by R.P.G. Collinson and published by Springer Science & Business Media. This book was released on 2013-06-05 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Avionic Systems, Second Edition explains the principles and theory of modern avionic systems and how they are implemented with current technology for both civil and military aircraft. The systems are analysed mathematically, where appropriate, so that the design and performance can be understood. The book covers displays and man-machine interaction, aerodynamics and aircraft control, fly-by-wire flight control, inertial sensors and attitude derivation, navigation systems, air data and air data systems, autopilots and flight management systems, avionic systems integration and unmanned air vehicles. About the Author. Dick Collinson has had "hands-on" experience of most of the systems covered in this book and, as Manager of the Flight Automation Research Laboratory of GEC-Marconi Avionics Ltd. (now part of BAE Systems Ltd.), led the avionics research activities for the company at Rochester, Kent for many years. He was awarded the Silver Medal of the Royal Aeronautical Society in 1989 for his contribution to avionic systems research and development.

Advances in Estimation, Navigation, and Spacecraft Control

Author : Daniel Choukroun
Publisher : Springer
ISBN 13 : 3662447851
Total Pages : 545 pages
Book Rating : 4.6/5 (624 download)

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Book Synopsis Advances in Estimation, Navigation, and Spacecraft Control by : Daniel Choukroun

Download or read book Advances in Estimation, Navigation, and Spacecraft Control written by Daniel Choukroun and published by Springer. This book was released on 2015-01-02 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents selected papers of the Itzhack Y. Bar-Itzhack Memorial Sympo- sium on Estimation, Navigation, and Spacecraft Control. Itzhack Y. Bar-Itzhack, professor Emeritus of Aerospace Engineering at the Technion – Israel Institute of Technology, was a prominent and world-renowned member of the applied estimation, navigation, and spacecraft attitude determination communities. He touched the lives of many. He had a love for life, an incredible sense of humor, and wisdom that he shared freely with everyone he met. To honor Professor Bar-Itzhack's memory, as well as his numerous seminal professional achievements, an international symposium was held in Haifa, Israel, on October 14–17, 2012, under the auspices of the Faculty of Aerospace Engineering at the Technion and the Israeli Association for Automatic Control. The book contains 27 selected, revised, and edited contributed chapters written by eminent international experts. The book is organized in three parts: (1) Estimation, (2) Navigation and (3) Spacecraft Guidance, Navigation and Control. The volume was prepared as a reference for research scientists and practicing engineers from academy and industry in the fields of estimation, navigation, and spacecraft GN&C.

Quaternion-Based Aircraft Attitude Estimation

Author : Brian Michael Filarsky
Publisher :
ISBN 13 :
Total Pages : 83 pages
Book Rating : 4.:/5 (953 download)

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Book Synopsis Quaternion-Based Aircraft Attitude Estimation by : Brian Michael Filarsky

Download or read book Quaternion-Based Aircraft Attitude Estimation written by Brian Michael Filarsky and published by . This book was released on 2016 with total page 83 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aircraft attitude estimation requires fusing several sensors in order to recover both high and low frequency information in an observable manner. This thesis explores the fusion of gyroscope integration, gravity vector estimation, and magnetic field vector estimation using a complementary filter and an extended Kalman filter (EKF), both of which use a unit quaternion to represent the attitude portion of the state. First, a set of models, which contain bias, scale factor errors, alignment errors, and Gaussian white noise, is introduced to govern the available sensors. The gyroscope bias is modeled as a random walk. A calibration routine is then established to minimize scale factor and bias errors. After some definitions and derivations for quaternion algebra are established, the attitude solution is then estimated using the complementary filter. Then the EKF is introduced and used to estimate both the quaternion state and gyroscope bias. The thesis is concluded with a Monte Carlo run to compare the complementary filter with the EKF. Due in large part to the estimation of gyroscope bias in the EKF, this filter is shown to give a significantly more accurate state estimate. The robustness is also evaluated, with both filters initialized with the incorrect initial quaternion and gyroscope bias estimate. The EKF is shown to converge relatively quickly, while the complementary filter does not reliably converge due to the lack of gyroscope bias estimation.

Multisensor Attitude Estimation

Author : Hassen Fourati
Publisher : CRC Press
ISBN 13 : 1498745806
Total Pages : 607 pages
Book Rating : 4.4/5 (987 download)

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Book Synopsis Multisensor Attitude Estimation by : Hassen Fourati

Download or read book Multisensor Attitude Estimation written by Hassen Fourati and published by CRC Press. This book was released on 2016-11-03 with total page 607 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.

Optimal Estimation of Dynamic Systems

Author : John L. Crassidis
Publisher : CRC Press
ISBN 13 : 1135439273
Total Pages : 606 pages
Book Rating : 4.1/5 (354 download)

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Book Synopsis Optimal Estimation of Dynamic Systems by : John L. Crassidis

Download or read book Optimal Estimation of Dynamic Systems written by John L. Crassidis and published by CRC Press. This book was released on 2004-04-27 with total page 606 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most newcomers to the field of linear stochastic estimation go through a difficult process in understanding and applying the theory.This book minimizes the process while introducing the fundamentals of optimal estimation. Optimal Estimation of Dynamic Systems explores topics that are important in the field of control where the signals received are used to determine highly sensitive processes such as the flight path of a plane, the orbit of a space vehicle, or the control of a machine. The authors use dynamic models from mechanical and aerospace engineering to provide immediate results of estimation concepts with a minimal reliance on mathematical skills. The book documents the development of the central concepts and methods of optimal estimation theory in a manner accessible to engineering students, applied mathematicians, and practicing engineers. It includes rigorous theoretial derivations and a significant amount of qualitiative discussion and judgements. It also presents prototype algorithms, giving detail and discussion to stimulate development of efficient computer programs and intelligent use of them. This book illustrates the application of optimal estimation methods to problems with varying degrees of analytical and numercial difficulty. It compares various approaches to help develop a feel for the absolute and relative utility of different methods, and provides many applications in the fields of aerospace, mechanical, and electrical engineering.

Optimal Control and Estimation

Author : Robert F. Stengel
Publisher : Courier Corporation
ISBN 13 : 0486134814
Total Pages : 674 pages
Book Rating : 4.4/5 (861 download)

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Book Synopsis Optimal Control and Estimation by : Robert F. Stengel

Download or read book Optimal Control and Estimation written by Robert F. Stengel and published by Courier Corporation. This book was released on 2012-10-16 with total page 674 pages. Available in PDF, EPUB and Kindle. Book excerpt: Graduate-level text provides introduction to optimal control theory for stochastic systems, emphasizing application of basic concepts to real problems. "Invaluable as a reference for those already familiar with the subject." — Automatica.

Strapdown Inertial Navigation Technology

Author : David Titterton
Publisher : IET
ISBN 13 : 0863413587
Total Pages : 578 pages
Book Rating : 4.8/5 (634 download)

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Book Synopsis Strapdown Inertial Navigation Technology by : David Titterton

Download or read book Strapdown Inertial Navigation Technology written by David Titterton and published by IET. This book was released on 2004 with total page 578 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inertial navigation is widely used for the guidance of aircraft, missiles ships and land vehicles, as well as in a number of novel applications such as surveying underground pipelines in drilling operations. This book discusses the physical principles of inertial navigation, the associated growth of errors and their compensation. It draws current technological developments, provides an indication of potential future trends and covers a broad range of applications. New chapters on MEMS (microelectromechanical systems) technology and inertial system applications are included.

Spacecraft Attitude Determination and Control

Author : J.R. Wertz
Publisher : Springer Science & Business Media
ISBN 13 : 9400999070
Total Pages : 877 pages
Book Rating : 4.4/5 (9 download)

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Book Synopsis Spacecraft Attitude Determination and Control by : J.R. Wertz

Download or read book Spacecraft Attitude Determination and Control written by J.R. Wertz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 877 pages. Available in PDF, EPUB and Kindle. Book excerpt: Roger D. Werking Head, Attitude Determination and Control Section National Aeronautics and Space Administration/ Goddard Space Flight Center Extensiye work has been done for many years in the areas of attitude determination, attitude prediction, and attitude control. During this time, it has been difficult to obtain reference material that provided a comprehensive overview of attitude support activities. This lack of reference material has made it difficult for those not intimately involved in attitude functions to become acquainted with the ideas and activities which are essential to understanding the various aspects of spacecraft attitude support. As a result, I felt the need for a document which could be used by a variety of persons to obtain an understanding of the work which has been done in support of spacecraft attitude objectives. It is believed that this book, prepared by the Computer Sciences Corporation under the able direction of Dr. James Wertz, provides this type of reference. This book can serve as a reference for individuals involved in mission planning, attitude determination, and attitude dynamics; an introductory textbook for stu dents and professionals starting in this field; an information source for experimen ters or others involved in spacecraft-related work who need information on spacecraft orientation and how it is determined, but who have neither the time nor the resources to pursue the varied literature on this subject; and a tool for encouraging those who could expand this discipline to do so, because much remains to be done to satisfy future needs.

Optimal State Estimation

Author : Dan Simon
Publisher : John Wiley & Sons
ISBN 13 : 0470045337
Total Pages : 554 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Optimal State Estimation by : Dan Simon

Download or read book Optimal State Estimation written by Dan Simon and published by John Wiley & Sons. This book was released on 2006-06-19 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: A bottom-up approach that enables readers to master and apply the latest techniques in state estimation This book offers the best mathematical approaches to estimating the state of a general system. The author presents state estimation theory clearly and rigorously, providing the right amount of advanced material, recent research results, and references to enable the reader to apply state estimation techniques confidently across a variety of fields in science and engineering. While there are other textbooks that treat state estimation, this one offers special features and a unique perspective and pedagogical approach that speed learning: * Straightforward, bottom-up approach begins with basic concepts and then builds step by step to more advanced topics for a clear understanding of state estimation * Simple examples and problems that require only paper and pen to solve lead to an intuitive understanding of how theory works in practice * MATLAB(r)-based source code that corresponds to examples in the book, available on the author's Web site, enables readers to recreate results and experiment with other simulation setups and parameters Armed with a solid foundation in the basics, readers are presented with a careful treatment of advanced topics, including unscented filtering, high order nonlinear filtering, particle filtering, constrained state estimation, reduced order filtering, robust Kalman filtering, and mixed Kalman/H? filtering. Problems at the end of each chapter include both written exercises and computer exercises. Written exercises focus on improving the reader's understanding of theory and key concepts, whereas computer exercises help readers apply theory to problems similar to ones they are likely to encounter in industry. With its expert blend of theory and practice, coupled with its presentation of recent research results, Optimal State Estimation is strongly recommended for undergraduate and graduate-level courses in optimal control and state estimation theory. It also serves as a reference for engineers and science professionals across a wide array of industries.

Pseudo-Linear Attitude Control and Estimation System (PLACES) [microform]

Author : Winnie Suk Wai Leung
Publisher : Library and Archives Canada = Bibliothèque et Archives Canada
ISBN 13 : 9780612951778
Total Pages : 170 pages
Book Rating : 4.9/5 (517 download)

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Book Synopsis Pseudo-Linear Attitude Control and Estimation System (PLACES) [microform] by : Winnie Suk Wai Leung

Download or read book Pseudo-Linear Attitude Control and Estimation System (PLACES) [microform] written by Winnie Suk Wai Leung and published by Library and Archives Canada = Bibliothèque et Archives Canada. This book was released on 2004 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of small and midsize spacecraft is the focus of many future low-budget missions. Hence, the demand for an efficient and effective autonomous algorithm for attitude and rate estimation is more prominent than ever. This thesis investigates the performance of a Pseudo-Linear Kalman Filter (PLKF) with continuous-time dynamics for attitude and rate estimation. The PLKF differs from the traditional Extended Kalman Filter (EKF) with its continuous-time dynamics performing estimation using a pseudo-linear state-dependent dynamic model. Both quaternion-based and vector-based measurements have been considered and the dynamic model of the spacecraft accounts for external environmental disturbances. The theoretical background of the PLKF will be summarized. Using computer simulations, the designed filter is shown to overcome large initial errors and yield accurate estimates. The performance indices used for evaluation are based on robustness against plant, measurement and initial estimate errors, as well as rejection of different sensor noise levels. While the EKF remains more robust for some cases of angular velocity estimation, the PLKF, in general, outperforms the EKF in attitude estimation.