Attitude Estimation Using Kalman Filtering: External Acceleration Compensation Considerations

Inexpensive Cubesat Attitude Estimation Using Quaternions and Unscented Kalman Filtering

This paper describes a quaternion implementation of an Unscented Kalman Filter for attitude estimation on CubeSats using measurements of a sun vector, a magnetic field vector and angular velocity. For faster convergence of the attitude estimate, a SVD-method solving Wahba’s problem has been proposed, which provides an initial attitude estimate. Using unit quaternions provides a singularity free...

Unscented Kalman Filtering for Attitude Determination Using MEMS Sensors

This paper presents the results of a quaternion-based unscented Kalman filtering for attitude estimation using low cost MEMS sensors. The unscented Kalman filter uses the pitch and roll angles computed from gravity force decomposition as the measurement for the filter. The immeasurable gravity accelerations are deduced from the outputs of the three axes accelerometers, the relative acceleration...

On Line Electric Power Systems State Estimation Using Kalman Filtering (RESEARCH NOTE)

In this paper principles of extended Kalman filtering theory is developed and applied to simulated on-line electric power systems state estimation in order to trace the operating condition changes through the redundant and noisy measurements. Test results on IEEE 14 - bus test system are included. Three case systems are tried; through the comparing of their results, it is concluded that the pro...

Kalman Filter for Spinning Spacecraft Attitude Estimation

This paper presents a Kalman filter using a seven-component attitude state vector comprising the angular momentum components in a n inertial reference frame, the angular momentum components in the body frame, and a rotation angle. The relatively slow variation of these parameters makes this parameterization advantageous for spinning spacecraft attitude estimation. The filter accounts for the co...

Indirect Kalman Filter for 3D Attitude Estimation