AbstractA robust unscented Kalman filter based on a multiplicative quaternion-error approach is proposed for high-precision spacecraft attitude estimation using quaternion measurements under measurement faults. The global attitude parameterization is given by a quaternion, whereas the local attitude error is defined using a generalized three-dimensional attitude representation. To guarantee quaternion normalization in the filter, the unscented Kalman filter is formulated with a multiplicative quaternion-error approach derived from the local attitude error. A standard unscented Kalman filter provides sufficiently good estimation results even for initial large error conditions. However, in the case of measurement sensor malfunctions, the unscented Kalman filter fails in providing the required estimation accuracy and may even collapse over time. The proposed algorithm uses a statistical function including measurement residuals to detect measurement faults and then uses an adaptation scheme based on a multiple scale factor so that the filter may stand robust against faulty measurements. The proposed algorithm is demonstrated for attitude estimation of a spacecraft using quaternion measurements in three measurement fault cases. The estimation performance of the proposed algorithm is also compared with those of the standard extended Kalman filter and unscented Kalman filter under the same simulation conditions.


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    Title :

    Robust Adaptive Unscented Kalman Filter for Spacecraft Attitude Estimation Using Quaternion Measurements



    Published in:

    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.50 Luftfahrzeugtechnik / 55.60 Raumfahrttechnik / 51.40 Werkstoffe für bestimmte Anwendungsgebiete
    Local classification TIB:    770/7040






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