scholarly journals Unscented Kalman filter for spacecraft attitude estimation using modified Rodrigues parameters and real data

2015 ◽  
Vol 35 (3) ◽  
pp. 835-846 ◽  
Author(s):  
Roberta Veloso Garcia ◽  
Nicholas de Freitas Oliveira Matos ◽  
Hélio Koiti Kuga ◽  
Maria Cecılia Zanardi
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Real Data ◽  
Attitude Estimation ◽  
Spacecraft Attitude ◽  
Modified Rodrigues Parameters

scholarly journals Attitude estimation for collision recovery of a quadcopter unmanned aerial vehicle

2019 ◽  
Vol 38 (10-11) ◽  
pp. 1286-1306 ◽  
Author(s):  
Adrian Battiston ◽  
Inna Sharf ◽  
Meyer Nahon
Keyword(s):  
Kalman Filter ◽  
Unmanned Aerial Vehicle ◽  
Unscented Kalman Filter ◽  
Real Data ◽  
Attitude Estimation ◽  
Sensor Data ◽  
Measurement Unit ◽  
Post Processing ◽  
Extensive Evaluation ◽  
Aerial Vehicle

An extensive evaluation of attitude estimation algorithms in simulation and experiments is performed to determine their suitability for a collision recovery pipeline of a quadcopter unmanned aerial vehicle. A multiplicative extended Kalman filter (MEKF), unscented Kalman filter (UKF), complementary filter, [Formula: see text] filter, and novel adaptive varieties of the selected filters are compared. The experimental quadcopter uses a PixHawk flight controller, and the algorithms are implemented using data from only the PixHawk inertial measurement unit (IMU). Performance of the aforementioned filters is first evaluated in a simulation environment using modified sensor models to capture the effects of collision on inertial measurements. Simulation results help define the efficacy and use cases of the conventional and novel algorithms in a quadcopter collision scenario. An analogous evaluation is then conducted by post-processing logged sensor data from collision flight tests, to gain new insights into algorithms’ performance in the transition from simulated to real data. The post-processing evaluation compares each algorithm’s attitude estimate, including the stock attitude estimator of the PixHawk controller, to data collected by an offboard infrared motion capture system. Based on this evaluation, two promising algorithms, the MEKF and an adaptive [Formula: see text] filter, are selected for implementation on the physical quadcopter in the control loop of the collision recovery pipeline. Experimental results show an improvement in the metric used to evaluate experimental performance, the time taken to recover from the collision, when compared with the stock attitude estimator on the PixHawk (PX4) software.

Multiplicative-modified-Rodrigues-parameters-based strong tracking unscented Kalman filter for satellite attitude estimation

2021 ◽  
Author(s):  
Haining Ma ◽  
Zhengliang Lu ◽  
Xiang Zhang ◽  
Wenhe Liao
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Simple Procedure ◽  
Weighted Average ◽  
Attitude Estimation ◽  
State Variables ◽  
Multiplicative Property ◽  
Satellite Attitude ◽  
Modified Rodrigues Parameters ◽  
Novel Method

Abstract In this paper, an improved strong tracking unscented Kalman filter (STUKF) based on multiplicative modified Rodrigues parameters (MRPs) is proposed for satellite attitude estimation. The multiplicative MRPs are superior to additive ones in terms of attitude representation, especially when attitude angles are large. By minimizing the loss function in Wahba’s problem, a novel method of weighted average for MRPs is derived to replace the simple procedure. The generation of Sigma points, update of state variables and calculation of covariance matrices are all different from the existing literature to maintain the multiplicative property of MRPs. Simulation results by raw telemetry data from the on-orbit CubeSat Enlai-1 demonstrate the excellent performance of the proposed filter under large attitude angles.

scholarly journals Unscented Kalman Filter for Determination of Spacecraft Attitude Using Different Attitude Parameterizations and Real Data

2016 ◽  
Vol 8 (1) ◽  
pp. 82-90 ◽  
Author(s):  
Roberta Veloso Garcia ◽  
Hélio Koiti Kuga ◽  
Maria Cecília F. P. S. Zanardi
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Real Data ◽  
Spacecraft Attitude
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