UKF based in-flight calibration of magnetometers and rate gyros for pico satellite attitude determination

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2010-01-01

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Söken, Halil Ersin

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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 negligible. At the second phase, estimated constant magnetometer bias components are taken into account and the algorithm is run for the estimation of the gyro biases that are cumulatively increased by time. As a result, six different bias terms for two different sensors are obtained in two stages where attitude and attitude rates are estimated regularly. For both estimation phases of the procedure Unscented Kalman Filter is used as the estimation algorithm.

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https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84913554625&origin=inward
https://hdl.handle.net/11511/86321

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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 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...
REKF and RUKF development for pico satellite attitude estimation in the presence of measurement faults Söken, Halil Ersin (2011-09-01) 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 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 measure...
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.
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...

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H. E. Söken, “UKF based in-flight calibration of magnetometers and rate gyros for pico satellite attitude determination,” 2010, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84913554625&origin=inward.