Quaternion Based Aircraft Attitude Estimation
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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.
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.
Use Of Quaternions In Flight Mechanics
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Author : Wilbur L. Hankey
language : en
Publisher:
Release Date : 1984
Use Of Quaternions In Flight Mechanics written by Wilbur L. Hankey and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1984 with Euler angles categories.
In analyzing aircraft spin and other flight maneuvers with large rotation rates based upon first principles, the non-linear aerodynamic equations (Navier-Stokes) must be coupled with the rigid-body dynamic equations of motion. In both systems of equations it is desirable to use a body axes system to describe the forces and moments, and utilize a surface-oriented coordinate system for obtaining the flowfield grid. To solve this system of equations it is necessary to describe the position of the aircraft with respect to a fixed inertial coordinate system. The classic method is to use the Euler angles to define the aircraft orientation. However, singularities and ambiguities exist when the elevation angle is plus or minus ninety degrees. This difficulty has been overcome in the field of inertial guidance by the use of quaternions to describe the aircraft position in space. It is the purpose of this report to investigate this technique for numerically solving aircraft spin problems. Two problems are addressed; the first is a nonsymmetric body and the second is a symmetric configuration. The rotational dynamics and the solution for the quaternions and Euler angles are determined for both problems. Hamilton (circa 1840) was the first to point out that the three Euler angles are inadequate to uniquely define the orientation of a body in space and that four variables are required to resolve the predicament. Hence he invented the quaternion which is a scalar plus a vector, totalling four elements.
Tracking And Attitude Of Objects By Quaternion Based On Kalman Filter To Build An Attitude And Heading Reference System
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Author : 陳育民
language : en
Publisher:
Release Date : 2017
Tracking And Attitude Of Objects By Quaternion Based On Kalman Filter To Build An Attitude And Heading Reference System written by 陳育民 and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
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.
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.
Spacecraft Attitude Determination And Control
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Author : J.R. Wertz
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Spacecraft Attitude Determination And Control written by J.R. Wertz and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
Roger D. Werking Head, Attitude Determination and Control Section National Aeronautics and Space Administration/ Goddard Space Flight Center Extensiye work has been done for many years in the areas of attitude determination, attitude prediction, and attitude control. During this time, it has been difficult to obtain reference material that provided a comprehensive overview of attitude support activities. This lack of reference material has made it difficult for those not intimately involved in attitude functions to become acquainted with the ideas and activities which are essential to understanding the various aspects of spacecraft attitude support. As a result, I felt the need for a document which could be used by a variety of persons to obtain an understanding of the work which has been done in support of spacecraft attitude objectives. It is believed that this book, prepared by the Computer Sciences Corporation under the able direction of Dr. James Wertz, provides this type of reference. This book can serve as a reference for individuals involved in mission planning, attitude determination, and attitude dynamics; an introductory textbook for stu dents and professionals starting in this field; an information source for experimen ters or others involved in spacecraft-related work who need information on spacecraft orientation and how it is determined, but who have neither the time nor the resources to pursue the varied literature on this subject; and a tool for encouraging those who could expand this discipline to do so, because much remains to be done to satisfy future needs.
Ballistics
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Author : Charles Osheku
language : en
Publisher: BoD – Books on Demand
Release Date : 2019-06-05
Ballistics written by Charles Osheku and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-05 with Technology & Engineering categories.
The edited volume Ballistics is a collection of reviewed and relevant research chapters, offering a comprehensive overview of recent developments in the field of engineered mechanics. The book comprises single chapters authored by various researchers and edited by an expert from the respective research area. Each chapter is complete in itself but united under a common research study topic. This publication aims to provide a thorough overview of the latest research efforts by international authors on engineered mechanics and opens new possible research paths for further novel developments.
Flight Mechanics Estimation Theory Symposium 1996
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Author :
language : en
Publisher:
Release Date : 1996
Flight Mechanics Estimation Theory Symposium 1996 written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with categories.
Optimal Estimation Of Dynamic Systems
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Author : John L. Crassidis
language : en
Publisher: CRC Press
Release Date : 2004-04-27
Optimal Estimation Of Dynamic Systems written by John L. Crassidis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-04-27 with Mathematics categories.
Most newcomers to the field of linear stochastic estimation go through a difficult process in understanding and applying the theory.This book minimizes the process while introducing the fundamentals of optimal estimation. Optimal Estimation of Dynamic Systems explores topics that are important in the field of control where the signals received are used to determine highly sensitive processes such as the flight path of a plane, the orbit of a space vehicle, or the control of a machine. The authors use dynamic models from mechanical and aerospace engineering to provide immediate results of estimation concepts with a minimal reliance on mathematical skills. The book documents the development of the central concepts and methods of optimal estimation theory in a manner accessible to engineering students, applied mathematicians, and practicing engineers. It includes rigorous theoretial derivations and a significant amount of qualitiative discussion and judgements. It also presents prototype algorithms, giving detail and discussion to stimulate development of efficient computer programs and intelligent use of them. This book illustrates the application of optimal estimation methods to problems with varying degrees of analytical and numercial difficulty. It compares various approaches to help develop a feel for the absolute and relative utility of different methods, and provides many applications in the fields of aerospace, mechanical, and electrical engineering.
