A general method for deriving variational integrators for systems with quaternion state variables is introduced. These integrators exhibit realistic energy and momentum behavior while having computational costs comparable to or less than low-order Runge–Kutta methods, making them suitable for both simulation and real-time estimation and control applications. Integrators are derived for several systems, including rigid bodies with momentum actuators and internal viscous damping. Numerical examples illustrate the performance of the integrators and an application to attitude determination using an extended Kalman filter is presented.


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    Title :

    Quaternion Variational Integrators for Spacecraft Dynamics


    Contributors:

    Published in:

    Publication date :

    2015-04-10


    Size :

    8 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Quaternion Variational Integrators for Spacecraft Dynamics

    Manchester, Zachary R | Online Contents | 2015


    Quaternion Variational Integrators for Spacecraft Dynamics

    Manchester, Zachary R | Online Contents | 2015




    Quaternion normalization in spacecraft attitude determination

    DEUTSCHMANN, JULIE / BAR-ITZHACK, ITZHACK / GALAL, KEN | AIAA | 1992