NDLI: Square-root adaptive cubature Kalman filter with application to spacecraft attitude estimation

Content Provider	IEEE Xplore Digital Library
Author	Xiaojun Tang Jianli Wei Kai Chen
Copyright Year	2012
Description	Author affiliation: School of Astronautics, Northwestern Polytechnical University, Xi'an, Shannxi 710072, China (Jianli Wei; Kai Chen) \|\| School of Aeronautics, Northwestern Polytechnical University, Xi'an, Shannxi 710072, China (Xiaojun Tang)
Abstract	A novel nonlinear filter called square-root adaptive cubature Kalman filter is proposed to estimate the spacecraft attitude from vector measurements. The algorithm combines an adaptive process noise estimation with the square-root cubature Kalman filter, which has a consistently improved numerical stability because all the resulting covariance matrices are guaranteed to stay positive semi-definite. The process noise estimate for efficient square-root implementation is derived. The quaternion is used to describe the spacecraft attitude kinematics, while a three-dimensional generalized Rodrigues parameter is used to maintain the quaternion normalization constraint in the filter formulation. The simulation results indicate that the proposed filter provides lower attitude estimation errors with faster convergence rate than the square-root cubature Kalman filter.
Starting Page	1406
Ending Page	1412
File Size	589759
Page Count	7
File Format	PDF
ISBN	9781467304177
e-ISBN	9780982443859
e-ISBN	9780982443842
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-09
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	ISIF ( Intl Society of Information Fusi
Subject Keyword	Noise Quaternions Vectors Kalman filters Estimation Space vehicles Covariance matrix process noise estimation square-root adaptive cubature Kalman filter attitude estimation quaternion
Content Type	Text
Resource Type	Article

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