scholarly journals Evaluation of Murrell’s EKF-Based Attitude Estimation Algorithm for Exploiting Multiple Attitude Sensor Configurations

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6450
Author(s):  
Sharanabasaweshwara Asundi ◽  
Norman Fitz-Coy ◽  
Haniph Latchman
Keyword(s):  
Magnetic Field ◽  
Time Derivative ◽  
Estimation Algorithm ◽  
Field Vector ◽  
Attitude Estimation ◽  
Magnetic Field Vector ◽  
Sun Sensor ◽  
Satellite Attitude ◽  
Multiple Sensor ◽  
Sensor Suite

Pico- and nano-satellites, due to their form factor and size, are limited in accommodating multiple or redundant attitude sensors. For such satellites, Murrell’s implementation of the extended Kalman filter (EKF) can be exploited to accommodate multiple sensor configurations from a set of non redundant attitude sensors. The paper describes such an implementation involving a sun sensor suite and a magnetometer as attitude sensors. The implementation exploits Murrell’s EKF to enable three sensor configurations, which can be operationally commanded, for satellite attitude estimation. Among the three attitude estimation schemes, (i) sun sensor suite and magnetometer, (ii) magnetic field vector and its time derivative and (iii) magnetic field vector, it is shown that the third configuration is better suited for attitude estimation in terms of precision and accuracy, but can consume more time to converge than the other two.

Measurement of Cardiac Magnetic Field Vector

1989 ◽  
pp. 425-428 ◽  
Author(s):  
Y. Sakauchi ◽  
H. Kado ◽  
N. Awano ◽  
N. Kasai ◽  
M. Higuchi ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Field Vector ◽  
Magnetic Field Vector

scholarly journals Improvement of the Helioseismic and Magnetic Imager (HMI) Vector Magnetic Field Inversion Code

2021 ◽  
Vol 923 (1) ◽  
pp. 84
Author(s):  
Ana Belén Griñón-Marín ◽  
Adur Pastor Yabar ◽  
Yang Liu ◽  
J. Todd Hoeksema ◽  
Aimee Norton
Keyword(s):  
Magnetic Field ◽  
Field Vector ◽  
Magnetic Field Vector ◽  
Solar Dynamics Observatory ◽  
Filling Fraction ◽  
Resolution Element ◽  
New Strategy ◽  
Moderate Field ◽  
Solar Dynamics ◽  
Field Strengths

Abstract A spectral line inversion code, Very Fast Inversion of the Stokes Vector (VFISV), has been used since 2010 May to infer the solar atmospheric parameters from the spectropolarimetric observations taken by the Helioseismic and Magnetic Imager (HMI) on board the Solar Dynamics Observatory. The magnetic filling factor, the fraction of the surface with a resolution element occupied by magnetic field, is set to have a constant value of 1 in the current version of VFISV. This report describes an improved inversion strategy for the spectropolarimetric data observed with HMI for magnetic field strengths of intermediate values in areas spatially not fully resolved. The VFISV inversion code has been modified to enable inversion of the Stokes profiles with two different components: one magnetic and one nonmagnetic. In this scheme, both components share the atmospheric components except for the magnetic field vector. In order to determine whether the new strategy is useful, we evaluate the inferred parameters inverted with one magnetic component (the original version of the HMI inversion) and with two components (the improved version) using a Bayesian analysis. In pixels with intermediate magnetic field strengths (e.g., plages), the new version provides statistically significant values of filling fraction and magnetic field vector. Not only does the fitting of the Stokes profile improve, but also the inference of the magnetic parameters and line-of-sight velocity are obtained uniquely. The new strategy is also proven to be effective for mitigating the anomalous hemispheric bias in the east–west magnetic field component in moderate field regions.

scholarly journals Attitude Estimation of Underwater Vehicles Using Field Measurements and Bias Compensation

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 330 ◽  
Author(s):  
Nak Ko ◽  
Seokki Jeong ◽  
Suk-seung Hwang ◽  
Jae-Young Pyun
Keyword(s):  
Magnetic Field ◽  
Field Measurement ◽  
Field Measurements ◽  
Underwater Vehicle ◽  
Field Vector ◽  
Attitude Estimation ◽  
Magnetic Field Measurement ◽  
Euler Angles ◽  
Measured Field ◽  
The Magnetic Field

This paper proposes a method of estimating the attitude of an underwater vehicle. The proposed method uses two field measurements, namely, a gravitational field and a magnetic field represented in terms of vectors in three-dimensional space. In many existing methods that convert the measured field vectors into Euler angles, the yaw accuracy is affected by the uncertainty of the gravitational measurement and by the uncertainty of the magnetic field measurement. Additionally, previous methods have used the magnetic field measurement under the assumption that the magnetic field has only a horizontal component. The proposed method utilizes all field measurement components as they are, without converting them into Euler angles. The bias in the measured magnetic field vector is estimated and compensated to take full advantage of all measured field vector components. Because the proposed method deals with the measured field independently, uncertainties in the measured vectors affect the attitude estimation separately without adding up. The proposed method was tested by conducting navigation experiments with an unmanned underwater vehicle inside test tanks. The results were compared with those obtained by other methods, wherein the Euler angles converted from the measured field vectors were used as measurements.

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