Iterated Unscented Kalman Filter for Spacecraft Attitude Estimation
作者单位：College of AutomationHarbin Engineering University
会议名称：《第37届中国控制会议》
会议日期：2018年
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]
基 金：supported by the National Natural Science Foundation of China(Grant Nos.61573113) the comprehensive pilot project of the discipline construction of the College of Automation of Harbin Engineering University
关 键 词：unscented quaternion estimator attitude estimation iteration technique reference quaternion
摘 要：In this paper, an iterated unscented quaternion estimator for spacecraft attitude estimation is proposed. A step length-varying iteration technique is incorporated into the unscented quaternion estimator and the corresponding termination condition is introduced to control the number of iterations and reduce the computational burden. The reference quaternion in the measurement update is redefined by the developed iteration technique. Simulation results demonstrate the superiority of the proposed new algorithm in comparison with the multiplicative extended Kalman filter, norm constraint Kalman filter and the unscented quaternion estimator under large initialization condition errors. It also shows that the proposed algorithm exhibits a faster convergence rate.