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Efficient Sequential Attitude Estimation from Vector ObservationsThis paper presents a computationally efficient, sequential method for attitude matrix estimation using gyro and vector measurements. The method is based on a recently introduced, minimal-parameter third-order method for solving the orthogonal matrix differential equation in R(sup n). In the three-dimensional case, these third-order attitude parameters can be interpreted as temporal-integrals of the body-frame angular velocity components. A nonlinear algorithm is developed, which uses this minimal set of three parameters to estimate the nine-parameter direction-cosine matrix. Having an extremely simple kinematic equation, these parameters render the resulting estimator highly computationally efficient. An orthogonalization procedure, incorporated into the measurement processing stage, enhances the accuracy and stability of the resulting algorithm, yet retains reasonable simplicity. The performance of the estimator is demonstrated via a Monte Carlo simulation study.
Document ID
Acquisition Source
Goddard Space Flight Center
Document Type
Conference Paper
Oshman, Yaakov
(NASA Goddard Space Flight Center Greenbelt, MD United States)
Markley, F. Landis
(NASA Goddard Space Flight Center Greenbelt, MD United States)
Date Acquired
September 8, 2013
Publication Date
May 1, 1997
Publication Information
Publication: Flight Mechanics Symposium 1997
Subject Category
Accession Number
Distribution Limits
Work of the US Gov. Public Use Permitted.
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