This paper presents a new formulation for spacecraft inertia estimation from flight data. Specifically, the inertia estimation problem is formulated as a constrained least squares minimization problem with explicit bounds on the inertia matrix incorporated as LMIs (linear matrix inequalities). The resulting minimization problem is a semidefinite optimization problem that can be solved efficiently with guaranteed convergence to the global optimum by readily available algorithms. This method is applied to test data collected from a robotic testbed consisting of a free rotating body. The results show that the constrained least squares approach produces more accurate estimates of the inertia matrix than standard unconstrained least squares estimation methods.


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    Titel :

    Spacecraft inertia estimation via constrained least squares


    Beteiligte:
    Keim, J.A. (Autor:in) / Behcet Acikmese, A. (Autor:in) / Shields, J.F. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2006-01-01


    Format / Umfang :

    4270487 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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