Sigma-Point Kalman Filtering for Spacecraft Attitude and Rate Estimation Using Magnetometer Measurements

2008 ◽  
Author(s):  
Mohammad Abdelrahman ◽  
Sang-Young Park
Keyword(s):  
Kalman Filtering ◽  
Spacecraft Attitude ◽  
Rate Estimation ◽  
Sigma Point

scholarly journals Highly Efficient Sigma Point Filter for Spacecraft Attitude and Rate Estimation

2009 ◽  
Vol 2009 ◽  
pp. 1-23 ◽  
Author(s):  
Chunshi Fan ◽  
Zheng You
Keyword(s):  
Computational Complexity ◽  
Nonlinear Filtering ◽  
Attitude Determination ◽  
Angular Rate ◽  
Space Missions ◽  
Spacecraft Attitude ◽  
Closed Form Solutions ◽  
Rate Estimation ◽  
Sigma Point ◽  
New Strategy

Nonlinearities in spacecraft attitude determination problem has been studied intensively during the past decades. Traditionally, multiplicative extended Kalman filter_MEKF_algorithm has been a good solution for most nominal space missions. But in recent years, advances in space missions deserve a revisit of the issue. Though there exist a variety of advanced nonlinear filtering algorithms, most of them are prohibited for actual onboard implementation because of their overload computational complexity. In this paper, we address this difficulty by developing a new algorithm framework based on the marginal filtering principle, which requires only 4 sigma points to give a complete 6-state attitude and angular rate estimation. Moreover, a new strategy for sigma point construction is also developed to further increase the efficiency and numerical accuracy. Incorporating the presented framework and novel sigma points, we proposed a new, nonlinear attitude and rate estimator, namely, the Marginal Geometric Sigma Point Filter. The new algorithm is of the same precision as traditional unscented Kalman filters, while keeping a significantly lower computational complexity, even when compared to the reduced sigma point algorithms. In fact, it has truly rivaled the efficiency of MEKF, even when simple closed-form solutions are involved in the latter.

Sigma-Point Kalman Filtering for Tightly Coupled GPS/INS Integration

Navigation ◽  
2008 ◽  
Vol 55 (3) ◽  
pp. 167-177 ◽  
Author(s):  
YONG LI ◽  
CHRIS RIZOS ◽  
JINLING WANG ◽  
PETER MUMFORD ◽  
WEIDONG DING
Keyword(s):  
Kalman Filtering ◽  
Sigma Point ◽  
Tightly Coupled

Precision navigation system design for Moon penetrator

2016 ◽  
Vol 88 (6) ◽  
pp. 791-798
Author(s):  
Xiaogang Wang ◽  
Wutao Qin ◽  
Yuliang Bai ◽  
Naigang Cui
Keyword(s):  
System Design ◽  
Kalman Filtering ◽  
Navigation System ◽  
Estimation Accuracy ◽  
Line Of Sight ◽  
Accurate Estimation ◽  
Navigation Systems ◽  
Vision Sensor ◽  
Content Type ◽  
Sigma Point

Purpose Penetrator plays an important role in the exploration of Moon and Mars. The navigation method is a key technology during the development of penetrator. To meet the high accuracy requirements of Moon penetrator, this paper aims to propose two kinds of navigation systems. Design/methodology/approach The line of sight of vision sensor between the penetrator and Moon orbiter could be utilized as the measurement during the navigation system design. However, the analysis of observability shows that the navigation system cannot estimate the position and velocity of penetrator, when the line of sight measurement is the only resource of information. Therefore, the Doppler measurement due to the relative motion between penetrator and the orbiter is used as the supplement. The other option is the relative range measurement between penetrator and the orbiter. The sigma-point Kalman Filtering is implemented to fuse the information from the vision sensor and Doppler or rangefinder. The observability of two navigation system is analyzed. Findings The sigma-point Kalman filtering could be used based on vision sensor and Doppler radar or laser rangefinder to give an accurate estimation of Moon penetrator position and velocity without increasing the payload of Moon penetrator or decreasing the estimation accuracy. However, the simulation result shows that the last method is better. The observability analysis also proves this conclusion. Practical implications Two navigation systems are proposed, and the simulations show that both systems can provide accurate estimation of states of penetrator. Originality/value Two navigation methods are proposed, and the observability of these navigation systems is analyzed. The sigma-point Kalman filtering is first introduced to the vision-based navigation system for Moon penetrator to provide precision navigation during the descent phase of Moon penetrator.

Sign in / Sign up

Export Citation Format

Share Document