Receding-horizon unscented Kalman filter for satellite attitude estimation

Ryo Hirasawa, Yuta Nakajima, Masaki Takahashi

研究成果: Conference contribution


This paper proposes a new constrained attitude estimation method for a satellite to reduce the influence of non-Gaussian measurement noise. A conventional constrained filter, the Receding-Horizon Nonlinear Kaiman Filter (RNKF), propagates the state value with a model in the prediction step, and minimizes the cost function with a constraint in the filtering step. The cost function is desired to be a quadratic program problem, whose constraint is linear, in terms of computational complexity. If the RNKF is applied to the attitude estimation problem, the appropriate attitude representation is the quaternion, which does not have a singular point, in the prediction step. However, the quaternion does not define a quadratic program in the filtering step because the quaternion needs to satisfy a single constraint of a unit norm. Therefore, this paper proposes the Receding-Horizon Unscented Kaiman Filter (RUKF) as an improvement of the RNKF to deal with appropriate attitude representation in each step. In the RUKF. the attitude is represented by the Rodrigues parameter in the filtering step owing to the Unscented Transformation. The Rodrigues parameter is an attitude representation with no constraint. It was confirmed from Monte Carlo simulation that the RUKF with a constraint is more accurate than the Extended Kaiman Filter.

ホスト出版物のタイトル65th International Astronautical Congress 2014, IAC 2014
ホスト出版物のサブタイトルOur World Needs Space
出版社International Astronautical Federation, IAF
出版ステータスPublished - 2014
イベント65th International Astronautical Congress 2014: Our World Needs Space, IAC 2014 - Toronto, Canada
継続期間: 2014 9月 292014 10月 3


名前Proceedings of the International Astronautical Congress, IAC


Other65th International Astronautical Congress 2014: Our World Needs Space, IAC 2014

ASJC Scopus subject areas

  • 航空宇宙工学
  • 天文学と天体物理学
  • 宇宙惑星科学


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