Robust Unscented Kalman Filter for Nanosat Attitude Estimation
- Resource Type
- Article
- Authors
- Daero Lee; George Vukovich; Regina Lee
- Source
- International Journal of Control, Automation, and Systems, 15(5), pp.2161-2173 Oct, 2017
- Subject
- 제어계측공학
- Language
- English
- ISSN
- 2005-4092
1598-6446
A robust unscented Kalman filter based on a multiplicative quaternion-error approach is proposed fornanosat estimation in the presence of measurement faults. The global attitude parameterization is given by a quaternion,while the local attitude error is defined using a generalized three-dimensional attitude representation. Theproposed algorithm uses a statistical function including measurement residuals to detect measurement faults andthen uses an adaptation scheme based on multiple measurement scale factor for filter robustness against faultymeasurements. The proposed algorithm is demonstrated for the attitude estimation of a nanosat with an on-boardthree-axis magnetometer and rate-integrating gyros in the presence of measurement faults as well as satellite orbiterrors. To compare the estimation performance of the proposed algorithm, the robust unscented Kalman filter withsingle measurement noise scale factor, the standard extended Kalman filter and the unscented Kalman filter are alsoimplemented under the same simulation conditions.