Journal
ACTA ASTRONAUTICA
Volume 76, Issue -, Pages 84-94Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.actaastro.2012.02.009
Keywords
Square-root cubature Kalman filter; Quaternion estimation; Two-step projection method; State-dependent noises
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Funding
- National Natural Science Foundation of China [61003137]
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A novel quaternion estimator called square-root quaternion cubature Kalman filter is proposed for spacecraft attitude estimation. The filter approach uses a gyro-based model for quaternion propagation and a reduced quaternion measurement model to substantially reduce the computational costs. The process and measurement noises of the system model exhibit the same kind of linear state-dependence. The properties of the state-dependent noises are extended and more general expressions for the covariance matrices of such state-dependent noises are developed. The new filter estimates the quaternion directly in vector space and uses a two-step projection method to maintain the quaternion normalization constraint along the estimation process. The square-root forms enjoy a consistently improved numerical stability because all the resulting covariance matrices are guaranteed to stay positive semi-definite. Extensive Monte-Carlo simulations for several typical scenarios are performed, and simulation results indicate that the proposed filter provides lower attitude estimation errors with faster convergence rate than a multiplicative extended Kalman filter, a quaternion Kalman filter, and a generalized Rodrigues parameters (GRPs)-based cubature Kalman filter for large initialization errors. (C) 2012 Elsevier Ltd. All rights reserved.
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