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Multiplicative Versus Additive Filtering for Spacecraft Attitude DeterminationThe absence of a globally nonsingular three-parameter representation of rotations forces attitude Kalman filters to estimate either a singular or a redundant attitude representation. We compare two filtering strategies using simplified kinematics and measurement models. Our favored strategy estimates a three-parameter representation of attitude deviations from a reference attitude specified by a higher- dimensional nonsingular parameterization. The deviations from the reference are assumed to be small enough to avoid any singularity or discontinuity of the three-dimensional parameterization. We point out some disadvantages of the other strategy, which directly estimates the four-parameter quaternion representation.
Document ID
Document Type
Preprint (Draft being sent to journal)
Markley, F. Landis (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
September 7, 2013
Publication Date
December 17, 2003
Subject Category
Aircraft Stability and Control
Meeting Information
6th International Conference on Control of Systems and Structures in Space(Riomaggiore)
Distribution Limits
Work of the US Gov. Public Use Permitted.

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