Spacecraft Attitude Estimation Integrating the Q-Method into an Extended Kalman Filter

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dc.contributor.advisorSpanos, Pol D.
dc.contributor.committeeMemberDick, Andrew J.
dc.contributor.committeeMemberShahsavari, Rouzbeh
dc.contributor.committeeMemberZanetti, Renato
dc.creatorAinscough, Thomas
dc.date.accessioned2013-09-16T14:20:52Z
dc.date.accessioned2013-09-16T14:21:02Z
dc.date.available2013-09-16T14:20:52Z
dc.date.available2013-09-16T14:21:02Z
dc.date.created2013-05
dc.date.issued2013-09-16
dc.date.submittedMay 2013
dc.date.updated2013-09-16T14:21:03Z
dc.description.abstractA new algorithm is proposed that smoothly integrates the nonlinear estimation of the attitude quaternion using Davenport's q-method and the estimation of non-attitude states within the framework of an extended Kalman filter. A modification to the q-method and associated covariance analysis is derived with the inclusion of an a priori attitude estimate. The non-attitude states are updated from the nonlinear attitude estimate based on linear optimal Kalman filter techniques. The proposed filter is compared to existing methods and is shown to be equivalent to second-order in the attitude update and exactly equivalent in the non-attitude state update with the Sequential Optimal Attitude Recursion filter. Monte Carlo analysis is used in numerical simulations to demonstrate the validity of the proposed approach. This filter successfully estimates the nonlinear attitude and non-attitude states in a single Kalman filter without the need for iterations.
dc.format.mimetypeapplication/pdf
dc.identifier.citationAinscough, Thomas. "Spacecraft Attitude Estimation Integrating the Q-Method into an Extended Kalman Filter." (2013) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/71913">https://hdl.handle.net/1911/71913</a>.
dc.identifier.slug123456789/ETD-2013-05-543
dc.identifier.urihttps://hdl.handle.net/1911/71913
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectAttitude estimation
dc.subjectNonlinear estimation
dc.subjectExtended Kalman filter
dc.subjectWahba problem
dc.titleSpacecraft Attitude Estimation Integrating the Q-Method into an Extended Kalman Filter
dc.typeThesis
dc.type.materialText
thesis.degree.departmentMechanical Engineering and Materials Science
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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