Optimal linear attitude estimators via geometric analysis

作     者：De-ren GONG Xiao-wei SHAO Wei LI Deng-ping DUAN 

作者机构：Institute of Aerospace Science ＆ Technology Shanghai Jiao Tong University Shanghai 200240 China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2011年第12卷第11期

页      面：873-882页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程] 

主　　题：Linear attitude determination Geometric analysis Gibbs vector Singularity avoidance 

摘      要：Three optimal linear attitude estimators are proposed for single-point real-time estimation of spacecraft attitude using a geometric approach. The final optimal attitude is represented by modified Rodrigues parameters （MRPs）. After introducing incidental right-hand orthogonal coordinates for each pair of measured values, three error vectors are obtained by the use of dot or/and cross products. Corresponding optimality criteria are rigorously quadratic and unconstrained, which do not coincide with Wahba＇s constrained criterion. The singularity, which occurs when the principal angle is close to n, can be easily avoided by one proper rotation. Numerical simulations show that the proposed three optimal linear estimators can provide a precision comparable with those complying with the Wahba optimality definition, and have faster computational speed than the famous quatemion estimator （QUEST）.