### 抜粋

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.

元の言語 | English |
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ホスト出版物のタイトル | Proceedings of the International Astronautical Congress, IAC |

出版者 | International Astronautical Federation, IAF |

ページ | 4963-4970 |

ページ数 | 8 |

巻 | 7 |

ISBN（印刷物） | 9781634399869 |

出版物ステータス | 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 29 → 2014 10 3 |

### Other

Other | 65th International Astronautical Congress 2014: Our World Needs Space, IAC 2014 |
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国 | Canada |

市 | Toronto |

期間 | 14/9/29 → 14/10/3 |

### フィンガープリント

### ASJC Scopus subject areas

- Space and Planetary Science
- Aerospace Engineering
- Astronomy and Astrophysics

### これを引用

*Proceedings of the International Astronautical Congress, IAC*(巻 7, pp. 4963-4970). International Astronautical Federation, IAF.