In this paper, a Kalman filter formulation for attitude estimation is derived using the Modified Rodrigues Parameters. The extended Kalman filter uses a gyro-based model for attitude propagation. Two solutions are developed for the sensitivity matrix in the Kalman filter. One is based upon an additive error approach, and the other is based upon a multiplicative error approach. It is shown that the two solutions are in fact equivalent. The Kalman filter is then used to estimate the attitude of a simulated spacecraft. Results indicate that then new algorithm produces accurate attitude estimates by determining actual gyro biases.


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    Titel :

    Attitude Estimation Using Modified Rodrigues Parameters


    Beteiligte:
    J. L. Crassidis (Autor:in) / F. L. Markley (Autor:in)

    Erscheinungsdatum :

    1996


    Format / Umfang :

    14 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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    Attitude Estimation Using Modified Rodrigues Parameters

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    Karlgaard, Christopher D. / Schaub, Hanspeter | Online Contents | 2009


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    Nonsingular Attitude Filtering Using Modified Rodrigues Parameters

    Karlgaard, Christopher D. / Schaub, Hanspeter | Springer Verlag | 2009