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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    Title :

    Spacecraft inertia estimation via constrained least squares


    Contributors:

    Published in:

    Publication date :

    2006-01-01


    Size :

    4270487 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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