Quaternion normalization in spacecraft attitude determinationMethods are presented to normalize the attitude quaternion in two extended Kalman filters (EKF), namely, the multiplicative EKF (MEKF) and the additive EKF (AEKF). It is concluded that all the normalization methods work well and yield comparable results. In the AEKF, normalization is not essential, since the data chosen for the test do not have a rapidly varying attitude. In the MEKF, normalization is necessary to avoid divergence of the attitude estimate. All of the methods of the methods behave similarly when the spacecraft experiences low angular rates.
Document ID
19920069431
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Deutschmann, Julie (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Bar-Itzhack, Itzhack (Technion - Israel Institute of Technology Haifa, United States)
Galal, Ken (NASA Goddard Space Flight Center Greenbelt, MD, United States)