Adaptive Optimal-REQUEST algorithm for attitude determination

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Abstract

Optimal-REQUEST is a recursive algorithm for least-squares fitting of the attitude quaternion of a rigid body to vector measurements. It relies on the knowledge of the variances in the measurement and process noises and is therefore prone to divergence due to modeling errors. The algorithm presented here is an adaptive Optimal-REQUEST procedure, based on the idea of covariance matching, which adjusts the noise variances in the filter in an on-line and optimal manner. For this purpose, non-classical residuals are designed by exploiting the structure of the so-called if-matrix and their statistical properties are investigated. As a result, although processing the same vector observation, two distinct algorithms can be developed for measurement noise adaptive filtering and for process noise adaptive filtering. The special case of zero-mean white measurement and process noises is considered. A simulation study is used to demonstrate the performance of the various adaptive algorithms. Extensive Monte-Carlo simulations show that the process noise adaptive procedure can compensate for large unknown biases in the process noise.

Original languageEnglish
Title of host publicationTechnion Israel Institute of Technology - 48th Israel Annual Conference on Aerospace Sciences 2008
Pages839-867
Number of pages29
StatePublished - 1 Dec 2008
Event48th Israel Annual Conference on Aerospace Sciences 2008 - Tel-Aviv and Haifa, Israel
Duration: 27 Feb 200828 Feb 2008

Publication series

NameTechnion Israel Institute of Technology - 48th Israel Annual Conference on Aerospace Sciences 2008
Volume2

Conference

Conference48th Israel Annual Conference on Aerospace Sciences 2008
Country/TerritoryIsrael
CityTel-Aviv and Haifa
Period27/02/0828/02/08

ASJC Scopus subject areas

  • Aerospace Engineering

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