An Extended Kalman Filter For Quaternion Based Attitude Estimation
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An Extended Kalman Filter For Quaternion Based Attitude Estimation
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Author : Joao L. Marins
language : en
Publisher:
Release Date : 2000-09-01
An Extended Kalman Filter For Quaternion Based Attitude Estimation written by Joao L. Marins and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000-09-01 with categories.
This thesis develops an extended Kalman filter for real-time estimation of rigid body motion altitude. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with those angles. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are in turn integrated to obtain quaternions. The outputs of the model are values of three-dimensional angular rates, three-dimensional linear accelerations, and three-dimensional magnetic field vector. Gauss-Newton iteration is utilized to find the best quaternion that relates the measured linear accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The quaternion obtained from the optimization algorithm is used as part of the observations for the Kalman filter. As a result, the measurement equations become linear. A new approach to attitude estimation is introduced in this thesis. The computational requirements related to the extended Kalman filter developed using this approach are significantly reduced, making it possible to estimate attitude in real-time. Extensive static and dynamic simulation of the filter using Matlab proved it to be robust. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track attitude.
Multisensor Attitude Estimation
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Author : Hassen Fourati
language : en
Publisher: CRC Press
Release Date : 2016-11-03
Multisensor Attitude Estimation written by Hassen Fourati and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-11-03 with Technology & Engineering categories.
There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.
Analysis And Comparison Of Extended And Unscented Kalman Filtering Methods For Spacecraft Attitude Determination
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Author : Orlando X. Diaz
language : en
Publisher:
Release Date : 2010
Analysis And Comparison Of Extended And Unscented Kalman Filtering Methods For Spacecraft Attitude Determination written by Orlando X. Diaz and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Engineering categories.
Two methods of estimating the attitude position of a spacecraft are examined in this thesis: the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). In particular, the UnScented QUaternion Estimator (USQUE) derived from [4] is implemented into a spacecraft model. For generalizations about the each of the filters, a simple problem is initially solved. These solutions display typical characteristics of each filter type. The UKF is very attractive in spacecraft attitude estimation, given that spacecraft dynamics are highly nonlinear. For nonlinear systems, the UKF is of particular interest because it uses a carefully selected set of sample points that more accurately map the probability distribution than the linearization of the standard extended Kalman filter. This leads to faster convergence of the attitude solution from largely inaccurate initial conditions. The filter created in this thesis is formulated based on Markley and Crassidis's work on standard attitude-vector measurements using a gyro-based model for attitude propagation. From the standard attitude vector measurements, the global attitude parameterization is found and given by a quaternion, while a generalized three-dimensional attitude representation is used to define the local attitude error. The multiplicative quaternion-error is then found from the local error. The simulation results indicate that the unscented filter is more robust than the extended Kalman filter.
Quaternion Based Aircraft Attitude Estimation
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Author : Brian Michael Filarsky
language : en
Publisher:
Release Date : 2016
Quaternion Based Aircraft Attitude Estimation written by Brian Michael Filarsky and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Aircraft attitude estimation requires fusing several sensors in order to recover both high and low frequency information in an observable manner. This thesis explores the fusion of gyroscope integration, gravity vector estimation, and magnetic field vector estimation using a complementary filter and an extended Kalman filter (EKF), both of which use a unit quaternion to represent the attitude portion of the state. First, a set of models, which contain bias, scale factor errors, alignment errors, and Gaussian white noise, is introduced to govern the available sensors. The gyroscope bias is modeled as a random walk. A calibration routine is then established to minimize scale factor and bias errors. After some definitions and derivations for quaternion algebra are established, the attitude solution is then estimated using the complementary filter. Then the EKF is introduced and used to estimate both the quaternion state and gyroscope bias. The thesis is concluded with a Monte Carlo run to compare the complementary filter with the EKF. Due in large part to the estimation of gyroscope bias in the EKF, this filter is shown to give a significantly more accurate state estimate. The robustness is also evaluated, with both filters initialized with the incorrect initial quaternion and gyroscope bias estimate. The EKF is shown to converge relatively quickly, while the complementary filter does not reliably converge due to the lack of gyroscope bias estimation.
Pseudo Linear Attitude Control And Estimation System Places Microform
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Author : Winnie Suk Wai Leung
language : en
Publisher: Library and Archives Canada = Bibliothèque et Archives Canada
Release Date : 2004
Pseudo Linear Attitude Control And Estimation System Places Microform written by Winnie Suk Wai Leung and has been published by Library and Archives Canada = Bibliothèque et Archives Canada this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with Kalman filtering categories.
Design of small and midsize spacecraft is the focus of many future low-budget missions. Hence, the demand for an efficient and effective autonomous algorithm for attitude and rate estimation is more prominent than ever. This thesis investigates the performance of a Pseudo-Linear Kalman Filter (PLKF) with continuous-time dynamics for attitude and rate estimation. The PLKF differs from the traditional Extended Kalman Filter (EKF) with its continuous-time dynamics performing estimation using a pseudo-linear state-dependent dynamic model. Both quaternion-based and vector-based measurements have been considered and the dynamic model of the spacecraft accounts for external environmental disturbances. The theoretical background of the PLKF will be summarized. Using computer simulations, the designed filter is shown to overcome large initial errors and yield accurate estimates. The performance indices used for evaluation are based on robustness against plant, measurement and initial estimate errors, as well as rejection of different sensor noise levels. While the EKF remains more robust for some cases of angular velocity estimation, the PLKF, in general, outperforms the EKF in attitude estimation.
Unscented Kalman Filtering For Relative Attitude And Position Estimation
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Author :
language : en
Publisher:
Release Date : 2007
Unscented Kalman Filtering For Relative Attitude And Position Estimation written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with categories.
In this thesis, the Unscented Filter is derived for the relative attitude and position estimation. In the previous work, the Extended Kalman Filter had shown its success in the estimation. For an inaccurate nonlinear model system, the Unscented Filter has proved to converge faster than the standard Extended Kalman Filter. The relative attitude and position estimation approach is based on the vision-based navigation (VISNAV) system. The line-of-sight measurement with the gyro measurements are used by the Unscented Filter to estimate the relative attitude, gyro biases and relative position. The modified Rodrigues parameters are used to define the local quaternion error for the sigma points transformation, while the quaternion is used for global attitude propagation. The transformation between quaternion and modified Rodrigues parameters is always guarantees quaternion normalization. Both spacecraft are assumed to have an equal type of build so that their orbits are predictable. The simulation results show that the standard Extended Kalman Filter is only able to provide converged results in a very limited low error, while the Unscented Filter can provide converged results up to a certain high error and with a faster convergence rate.
Multisensor Attitude Estimation
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Author : Hassen Fourati
language : en
Publisher: CRC Press
Release Date : 2016-11-03
Multisensor Attitude Estimation written by Hassen Fourati and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-11-03 with Technology & Engineering categories.
There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.
Optimal And Robust Estimation
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Author : Frank L. Lewis
language : en
Publisher: CRC Press
Release Date : 2017-12-19
Optimal And Robust Estimation written by Frank L. Lewis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-19 with Technology & Engineering categories.
More than a decade ago, world-renowned control systems authority Frank L. Lewis introduced what would become a standard textbook on estimation, under the title Optimal Estimation, used in top universities throughout the world. The time has come for a new edition of this classic text, and Lewis enlisted the aid of two accomplished experts to bring the book completely up to date with the estimation methods driving today's high-performance systems. A Classic Revisited Optimal and Robust Estimation: With an Introduction to Stochastic Control Theory, Second Edition reflects new developments in estimation theory and design techniques. As the title suggests, the major feature of this edition is the inclusion of robust methods. Three new chapters cover the robust Kalman filter, H-infinity filtering, and H-infinity filtering of discrete-time systems. Modern Tools for Tomorrow's Engineers This text overflows with examples that highlight practical applications of the theory and concepts. Design algorithms appear conveniently in tables, allowing students quick reference, easy implementation into software, and intuitive comparisons for selecting the best algorithm for a given application. In addition, downloadable MATLAB® code allows students to gain hands-on experience with industry-standard software tools for a wide variety of applications. This cutting-edge and highly interactive text makes teaching, and learning, estimation methods easier and more modern than ever.
Fundamentals Of Spacecraft Attitude Determination And Control
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Author : F. Landis Markley
language : en
Publisher: Springer
Release Date : 2014-05-31
Fundamentals Of Spacecraft Attitude Determination And Control written by F. Landis Markley and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-31 with Technology & Engineering categories.
This book explores topics that are central to the field of spacecraft attitude determination and control. The authors provide rigorous theoretical derivations of significant algorithms accompanied by a generous amount of qualitative discussions of the subject matter. The book documents the development of the important concepts and methods in a manner accessible to practicing engineers, graduate-level engineering students and applied mathematicians. It includes detailed examples from actual mission designs to help ease the transition from theory to practice and also provides prototype algorithms that are readily available on the author’s website. Subject matter includes both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It provides detailed derivations for attitude kinematics and dynamics and provides detailed description of the most widely used attitude parameterization, the quaternion. This title also provides a thorough treatise of attitude dynamics including Jacobian elliptical functions. It is the first known book to provide detailed derivations and explanations of state attitude determination and gives readers real-world examples from actual working spacecraft missions. The subject matter is chosen to fill the void of existing textbooks and treatises, especially in state and dynamics attitude determination. MATLAB code of all examples will be provided through an external website.
Spacecraft Modeling Attitude Determination And Control
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Author : Yaguang Yang
language : en
Publisher: CRC Press
Release Date : 2019-02-06
Spacecraft Modeling Attitude Determination And Control written by Yaguang Yang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-02-06 with Science categories.
This book discusses all spacecraft attitude control-related topics: spacecraft (including attitude measurements, actuator, and disturbance torques), modeling, spacecraft attitude determination and estimation, and spacecraft attitude controls. Unlike other books addressing these topics, this book focuses on quaternion-based methods because of its many merits. The book lays a brief, but necessary background on rotation sequence representations and frequently used reference frames that form the foundation of spacecraft attitude description. It then discusses the fundamentals of attitude determination using vector measurements, various efficient (including very recently developed) attitude determination algorithms, and the instruments and methods of popular vector measurements. With available attitude measurements, attitude control designs for inertial point and nadir pointing are presented in terms of required torques which are independent of actuators in use. Given the required control torques, some actuators are not able to generate the accurate control torques, therefore, spacecraft attitude control design methods with achievable torques for these actuators (for example, magnetic torque bars and control moment gyros) are provided. Some rigorous controllability results are provided. The book also includes attitude control in some special maneuvers, such as orbital-raising, docking and rendezvous, that are normally not discussed in similar books. Almost all design methods are based on state-spaced modern control approaches, such as linear quadratic optimal control, robust pole assignment control, model predictive control, and gain scheduling control. Applications of these methods to spacecraft attitude control problems are provided. Appendices are provided for readers who are not familiar with these topics.