Unscented Kalman Filtering: NPSAT1 Ground Test Results
Ross, Michael I.
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NPSAT1 is a small satellite that employs magnetic sensing and actuation for attitude control. The spacecraft orientation and angular velocity should, therefore, be estimated from the magnetometer readings. The inherent nonlinear dynamics of the system poses a challenging problem on the observer design. This paper demonstrates the ground test results of NPSAT1 state estimation using the Unscented Kalman Filter (UKF) - a fairly recent method with inherent appeals of extended Kalman 'Filter but with no need for linearization; thus more suitable for highly nonlinear 'filtering and control applications. The quaternion-based modeling constraint that the quaternion has a unit norm is enforced by treating the norm of the quaternion as a dummy measurement. The experimental results show the superior performance of the UKF in practice.
The article of record as published may be located at http://dx.doi.org/10.2514/6.2006-6352Proceedings of AIAA-Guidance, Navigation, and Control Conference and Exhibit ; Paper no. AIAA-2006-6352, Keystone, Colorado, Aug. 21-24, 2006
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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