State-dependent pseudo-linear filters for spacecraft attitude and rate estimation

Itzhack Y. Bar-Itzhack, Richard R. Harman, Daniel Choukroun

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

21 Scopus citations

Abstract

This paper presents the development and performance of a special algorithm for estimating the attitude and angular rate of a spacecraft. The algorithm is a pseudolinear Kalman filter, which is an ordinary linear Kalman filter that operates on a linear model whose matrices are current state estimate dependent. The nonlinear rotational dynamics equation of the spacecraft is presented in the state space as a state-dependent linear system. Two types of measurements are considered; one type is a measurement of the quaternion of rotation, which is obtained from a newly introduced star tracker based apparatus. The other type of measurement is that of vectors, which permits the use of a variety of vector measuring sensors like sun sensors and magnetometers. Several measurement models are presented, a linear model for the case where the measured quantity is the quaternion, and two measurement models, one of which is pseudo-linear, when the measured quantities are vectors. In the latter situation, one model is for the case where the attitude is represented by a quaternion, and the other is for the case where it is represented by a direction cosine matrix. A special observability enhancement algorithm is introduced for the latter case. The state-dependent pseudo-linear filter is tested using simulated spacecraft rotations.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786, 9781624101083
DOIs
StatePublished - 1 Jan 2002
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, United States
Duration: 5 Aug 20028 Aug 2002

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference and Exhibit 2002
Country/TerritoryUnited States
CityMonterey, CA
Period5/08/028/08/02

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