UKF for the Identification of the Pico Satellite Attitude Dynamics Parameters and the External Torques on IMU and Magnetometer Measurements

In this study, an Unscented Kalman Filter (UKF) algorithm, which integrates mathematical model of the attitude dynamics with the measurements of Inertial Measurement Unit (IMU) and the magnetometers, is designed. The identified vector is arranged from the Eider angles, angular rates, and the unknown constant components of the external torques (the gravity-gradient, magnetic field pressure and the sun radiation) acting on the pico satellite. Because of the inherent nonlinear dynamics and the nonlinear measurement model caused by the magnetometer measurements, UKF is selected as a filter algorithm. Performance of the proposed algorithm is demonstrated via simulations for a cube pico satellite.


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...
UKF-Based Reconfigurable Attitude Parameters Estimation and Magnetometer Calibration
Söken, Halil Ersin (2012-07-01)
A reconfigurable unscented Kalman filter (UKF)-based estimation algorithm for magnetometer biases and scale factors is proposed as a part of the attitude estimation scheme of a pico satellite. Unlike existing algorithms, in this paper, scale factors are not treated, together with other parameters, as part of the state vector; they are estimated separately. After satisfying the conditions of the proposed stopping rule for bias estimation, UKF reconfigures itself for estimation of attitude parameters alone.
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...
Robust Attitude Estimation Using IMU-Only Measurements
Candan, Batu; Söken, Halil Ersin (2021-01-01)
© 1963-2012 IEEE.This article proposes two novel covariance-tuning methods to form a robust Kalman filter (RKF) algorithm for attitude (i.e., roll and pitch) estimation using the measurements of only an inertial measurement unit (IMU). KF-based and complementary filtering (CF)-based approaches are the two common methods for solving the attitude estimation problem. Efficiency and optimality of the KF-based attitude filters are correlated with appropriate tuning of the covariance matrices. Manual tuning proce...
Mems gyroscopes for tactical-grade inertial measurement applications
Alper, Said Emre; Akın, Tayfun; Department of Electrical and Electronics Engineering (2005)
This thesis reports the development of high-performance symmetric and decoupled micromachined gyroscopes for tactical-grade inertial measurement applications. The symmetric structure allows easy matching of the resonance frequencies of the drive and sense modes of the gyroscopes for achieving high angular rate sensitivity; while the decoupled drive and sense modes minimizes mechanical cross-coupling for low-noise and stable operation. Three different and new symmetric and decoupled gyroscope structures with...
Citation Formats
H. E. Söken, “UKF for the Identification of the Pico Satellite Attitude Dynamics Parameters and the External Torques on IMU and Magnetometer Measurements,” 2009, Accessed: 00, 2020. [Online]. Available: