New algorithm for gyroless spacecraft angular rate Estimation and its application
A new algorithm for estimating the angular velocity using quaternion measurements is developed based on the concept of the global optimality resulting when using a centralized or master Kalman filter. The new filter consists of three local Kalman filters run in parallel. Each of them feed a mas...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/23317/ http://irep.iium.edu.my/23317/1/Pages_from_Sp_Issue.pdf |
| Summary: | A new algorithm for estimating the angular velocity
using quaternion measurements is developed based on
the concept of the global optimality resulting when using
a centralized or master Kalman filter. The new filter
consists of three local Kalman filters run in parallel.
Each of them feed a master filter with its output
estimates. The master filter then runs for global optimal
estimate of the angular velocity. The master filter
estimate and error covariance is fed back to update a
main Kalman filter which in turn fed back its estimates to
update two other secondary Kalman filters. The new
algorithm performance is investigated and tested against
other two filters and has shown much better results when
using in both modes (quaternion measurement/low pass
filter). The study is concluded by the application of the
concept of estimating the angular velocity vector during
the detumbling mode of a spacecraft. The simulation
results have shown great improvements in the detumbling
efficiency since under the same control torque constraints
the spacecraft derived to almost null angular velocity in a
shorter time than when using the traditional control
approaches applied during this mode.
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