H-type filter for spacecraft attitude estimation

F. Landis Markley, Nadav Berman, Uri Shaked

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

4 Scopus citations


A nonlinear filtering theory from a deterministic point of view is presented and an application to attitude determination is considered. The approach that is taken in this paper is motivated largely by the H control and estimation theory for linear systems which has been evolved within the last decade. Rather than formulating the estimation problem as a game played by two adversaries, as has been done in the linear case, we employ in this work some notions from the theory of dissipative systems as a vehicle for arriving at certain Hamilton-Jacobi inequality, which in turn, provides a solution to the filtering problem, whenever it is satisfied. Application of this method to a linear estimation problem and to the problem of estimating a spacecraft attitude quaternion and gyro drift bias vector are presented. In limiting cases these give the Kalman filter and the extended Kalman filter respectively. The main advantages of this approach over its probabilistic counterpart are that this approach does not require a prior knowledge of any statistics, and that in general it is more amenable to a quantitative assessments regarding approximations such a linearization, and that in certain cases this approach yields an exact solution to the nonlinear filtering.

Original languageEnglish
Title of host publicationAdvances in the Astronautical Sciences
PublisherPubl by Univelt Inc
Number of pages15
Editionpt 1
ISBN (Print)0877033781
StatePublished - 1 Dec 1993
Externally publishedYes
EventProceedings of the AAS/NASA International Symposium on Advances in the Astronautical Sciences - Greenbelt, MD, USA
Duration: 26 Apr 199330 Apr 1993

Publication series

NameAdvances in the Astronautical Sciences
Numberpt 1
ISSN (Print)0065-3438


ConferenceProceedings of the AAS/NASA International Symposium on Advances in the Astronautical Sciences
CityGreenbelt, MD, USA

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science


Dive into the research topics of 'H-type filter for spacecraft attitude estimation'. Together they form a unique fingerprint.

Cite this