Methods are presented to normalize the attitude quaternion in two extended Kalman filters (EKF), namely, the multiplicative EKF (MEKF) and the additive EKF (AEKF). It is concluded that all the normalization methods work well and yield comparable results. In the AEKF, normalization is not essential, since the data chosen for the test do not have a rapidly varying attitude. In the MEKF, normalization is necessary to avoid divergence of the attitude estimate. All of the methods of the methods behave similarly when the spacecraft experiences low angular rates.


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    Title :

    Quaternion normalization in spacecraft attitude determination


    Contributors:

    Conference:

    1992 AIAA/AAS Astrodynamics Conference ; 1992 ; Hilton Head Island, SC, United States


    Publication date :

    1992-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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    Quaternion Normalization in Additive EKF for Spacecraft Attitude Determination

    I. Y. Bar-Itzhack / J. Deutschmann / F. L. Markley | NTIS | 1991


    Quaternion normalization in additive EKF for spacecraft attitude determination

    Bar-Itzhack, I. Y. / Deutschmann, J. / Markley, F. L. | NTRS | 1991


    Quaternion normalization in additive EKF for spacecraft attitude determination

    BAR-ITZHACK, I. / DEUTSCHMANN, J. / MARKLEY, F. | AIAA | 1991