A numerical solution algorithm has been developed to solve a generalization of Wahba's attitude determination problem to the case of unknown attitude and attitude rate. It provides a robust global solution to nonlinear batch attitude and rate estimation problems for spinning spacecraft. The original Wahba problem seeks the attitude that fits a set of unit-normalized direction vector measurement...

Satellites provide various services essential to the modern life of human being. For example, satellite images are used for many applications such as reconnaissance, geographic information system, etc. Therefore, design and operation requirements of the satellite system have become more severe, and also the system reliability during the operation is required. Satellite attitude control systems ...

In this paper, a new algorithm is developed for attitude estimation using Global Positioning System (GPS) signals. The new algorithm is based on a predictive filtering scheme designed for spacecraft without rate measuring devices. The major advantage of this new algorithm over traditional Kalman filter approaches is that the model error is not assumed to represented by an unbiased Gaussian nois...

The quaternion estimation (QUEST) batch attitude determination algorithm has been extended to work in a general Kalman-filter framework. This has been done in order to allow the inclusion of a complicated dynamics model and to allow the estimation of additional quantities beyond the attitude quaternion. The QUEST algorithm, which works with vector attitude observations, serves as a starting poi...

In this paper, a new algorithm is developed for attitude estimation using Global Positioning System (GPS) signals. The new algorithm is based on a predictive filtering scheme designed for spacecraft without rate measuring devices. The major advantage of this new algorithm over traditional Kalman filter approaches is that the model error is not assumed to represented by an unbiased Gaussian nois...

Attitude estimation is a core problem in many robotic systems that perform automated or semi automated navigation. The configuration space of the attitude motion is naturally modelled on the Lie group of special orthogonal matrices SO(3). Many current attitude estimation methods are based on non-matrix parameterization of attitude. Non-matrix parameterization schemes sometimes lead to modelling...

Infrared Earth horizon sensors (EHS) are capable of providing attitude knowledge for satellites in low-Earth orbit, even during periods of eclipse. Attitude information is acquired by detecting Earth’s infrared electromagnetic radiation and, subsequently, determining the region obscured by Earth in the sensors’ fields of view to compute a nadir vector estimation in the satellite’s body frame. D...

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...

This paper describes the development of a two-tier state estimation approach for NASA/JPL’s FIDO Rover that utilizes wheel odometry, inertial measurement sensors, and a sun sensor to generate accurate estimates of the rover’s position and attitude throughout a rover traverse. The state estimation approach makes use of a linear Kalman filter to estimate the rate sensor bias terms associated with...

Spacecraft attitude estimation is the process of determining the orientation of the spacecraft with respect to a reference frame. Many nonlinear filtering methods have been applied to spacecraft attitude estimation. The extended Kalman filter (EKF) has been the most widely used nonlinear filtering method for realtime attitude estimation so far [1]. It works well in the linear regime where the l...