Adaptive optimal-REQUEST algorithm for attitude determination

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations


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 K-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 publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Number of pages24
ISBN (Print)1563479044, 9781563479045
StatePublished - 1 Jan 2007
EventAIAA Guidance, Navigation, and Control Conference 2007 - Hilton Head, SC, United States
Duration: 20 Aug 200723 Aug 2007

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007


ConferenceAIAA Guidance, Navigation, and Control Conference 2007
Country/TerritoryUnited States
CityHilton Head, SC

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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