Deterministic Global Attitude Estimation
Taeyoung Lee,Amit K. Sanyal,Melvin Leok,N.H. McClamroch +3 more
- 01 Dec 2006
- pp 3174-3179
TL;DR: In this paper, a deterministic attitude estimation problem for a rigid body in an attitude dependent potential field with bounded measurement errors is studied, and an attitude estimation scheme that does not use generalized coordinate representations of the attitude is presented.
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Abstract: A deterministic attitude estimation problem for a rigid body in an attitude dependent potential field with bounded measurement errors is studied. An attitude estimation scheme that does not use generalized coordinate representations of the attitude is presented here. Assuming that the initial attitude, angular velocity and measurement noise lie within given ellipsoidal bounds, an uncertainty ellipsoid that bounds the attitude and the angular velocity of the rigid body is obtained. The center of the uncertainty ellipsoid provides point estimates, and its size gives the accuracy of the estimates. The point estimates and the uncertainty ellipsoids are propagated using a Lie group variational integrator and its linearization, respectively. The estimation scheme is optimal in the sense that the attitude estimation error and the size of the uncertainty ellipsoid is minimized at each measurement instant, and it is global since the attitude is represented by a rotation matrix.
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Citations
•Posted Content
Global Optimal Attitude Estimation using Uncertainty Ellipsoids
TL;DR: An attitude estimation algorithm that globally minimizes the attitude estimation error is obtained and the attitude and angular velocity estimates are optimal in the sense that the sizes of the uncertainty ellipsoids are minimized.
78
Global Attitude Estimation using Single Direction Measurements
Taeyoung Lee,Melvin Leok,N.H. McClamroch,Amit K. Sanyal +3 more
- 09 Jul 2007
TL;DR: In this paper, a deterministic attitude estimator for a rigid body under an attitude dependent potential is studied using small error assumptions, which requires only a single direction measurement to a known reference point at each measurement instant.
24
•Posted Content
Global Attitude Estimation using Single Direction Measurements
TL;DR: A deterministic attitude estimator for a rigid body under an attitude dependent potential is studied using small error assumptions and a numerical example for a spacecraft in a circular orbit is presented.
21
Nonlinear geometric estimation for satellite attitude
TL;DR: A novel algorithm for efficient high-accuracy satellite attitude estimation that results from an investigation of the Bayesian nonlinear estimation problem based on the phase-space geometry of Hamiltonian systems shows promise for improved attitude estimation onboard high-performance, resource-constrained small satellites.
9
References
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Malcolm D. Shuster,S. D. Oh +1 more
TL;DR: Two computationally efficient algorithms are presented for determining three-axis attitude from two or more vector observations that are useful to the mission analyst or spacecraft engineer for the evaluation of launch-window constraints or of attitude accuracies for different attitude sensor configurations.
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Recursive state estimation: Unknown but bounded errors and system inputs
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Multi-Input Multi-Output Ellipsoidal State Bounding
TL;DR: In this paper, two measures of the size of an ellipsoid are employed to characterize uncertainty, namely, its volume and the sum of the squares of its semiaxes, in the case of multi-input multi-output state bounding.
308
Attitude Determination from Vector Observations: Quaternion Estimation
TL;DR: In this paper, two recursive estimation algorithms, which use pairs of measured vectors to yield minimum variance estimates of the quaternion of rotation, are presented, and a variant of the extended Kalman filter is used to estimate the difference between the estimation and its estimate.
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