REKF and RUKF development for pico satellite attitude estimation in the presence of measurement faults

Date

2011-09-01

Author

Söken, Halil Ersin

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When a pico satellite is under normal operational conditions, whether it is Extended or Unscented, a conventional Kalman Filter gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, Kalman filter gives inaccurate results and diverges by time. This study compares two different robust Kalman filtering algorithms; Robust Extended Kalman Filter (REKF) and Robust Unscented Kalman Filter (REKF) for the case of measurement malfunctions. In both filters by the use of defined variables named as measurement noise scale factor, the faulty measurements are taken into the consideration with a small weight and the estimations are corrected without affecting the characteristic of the accurate ones. Proposed robust Kalman filters are applied for the attitude estimation process of a pico satellite and the results are compared. © 2011 IEEE.

URI

https://hdl.handle.net/11511/69756

DOI

https://doi.org/10.1109/rast.2011.5966972

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Department of Aerospace Engineering, Conference / Seminar

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REKF and RUKF for pico satellite attitude estimation in the presence of measurement faults Söken, Halil Ersin (2014-04-01) When a pico satellite is under normal operational conditions, whether it is extended or unscented, a conventional Kalman filter gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunctions in the estimation system, the Kalman filter gives inaccurate results and diverges by time. This study compares two different robust Kalman filtering algorithms, robust extended Kalman filter (REKF) and robust unscented Kalman filter (RUKF), for the case of m...
Pico satellite attitude estimation via Robust Unscented Kalman Filter in the presence of measurement faults Söken, Halil Ersin (2010-07-01) In the normal operation conditions of a pico satellite, a conventional Unscented Kalman Filter (UKF) gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, UKF gives inaccurate results and diverges by time. This study introduces Robust Unscented Kalman Filter (RUKF) algorithms with the filter gain correction for the case of measurement malfunctions. By the use of defined variables named as measurement noise scale...
UKF based in-flight calibration of magnetometers and rate gyros for pico satellite attitude determination Söken, Halil Ersin (Wiley, 2012-05-01) In this paper an unscented Kalman filter based procedure for the bias estimation of both the magnetometers and the gyros carried onboard a pico satellite, is proposed. At the initial phase, biases of three orthogonally located magnetometers are estimated as well as the attitude and attitude rates of the satellite. During the initial period after the orbit injection, gyro measurements are accepted as bias free since the precise gyros are working accurately and the accumulated gyro biases are negligible. At t...
UKF based in-flight calibration of magnetometers and rate gyros for pico satellite attitude determination Söken, Halil Ersin (2010-01-01) In this paper an Unscented Kalman filter based procedure for the bias estimation of both the magnetometers and the gyros, which are carried onboard by a pico satellite, is proposed. At the initial phase, biases of three orthogonally located magnetometers are estimated as well as the attitude and attitude rates of the satellite. During initial period after the orbit injection, gyro measurements are accepted as bias free since the precise gyros are working accurately and the accumulated gyro biases are neglig...
UKF based on-orbit gyro and magnetometer bias estimation as a part of the attitude determination procedure for a small satellite Söken, Halil Ersin (2011-12-01) In this study an unscented Kalman filter (UKF) based magnetometer and gyro bias estimation algorithm is presented as a part of the attitude determination procedure for a small satellite, which has three magnetometers and three gyros as measurement sensors. Differently from the existing studies both magnetometer and gyro biases are estimated as well as the attitude parameters. Kinematics of the satellite is modeled via using quaternion parameterization. In order to enable estimation of all parameters simulta...

Citation Formats

H. E. Söken, “REKF and RUKF development for pico satellite attitude estimation in the presence of measurement faults,” 2011, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/69756.