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dc.contributor.advisorRomano, Marcello
dc.contributor.authorDiaz, Orlando X.
dc.date.accessioned2012-03-14T17:43:54Z
dc.date.available2012-03-14T17:43:54Z
dc.date.issued2010-12
dc.identifier.urihttp://hdl.handle.net/10945/5010
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractTwo 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.en_US
dc.format.extentxvi, 117 p. : ill. (chiefly col.) ;en_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.subject.lcshSpace vehiclesen_US
dc.subject.lcshKalman filteringen_US
dc.subject.lcshGyroscopesen_US
dc.subject.lcshMagnetometersen_US
dc.subject.lcshEngineeringen_US
dc.titleAnalysis and comparison of extended and unscented Kalman filtering methods for spacecraft attitude determinationen_US
dc.typeThesisen_US
dc.contributor.secondreaderWoo, Hyun-wook
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.departmentAstronautical Engineering
dc.description.serviceNational Aeronautics and Space Administration author (civilian)en_US
dc.identifier.oclc698375936
etd.thesisdegree.nameM.S.en_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineAstronautical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.verifiednoen_US


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