|Robust Unscented Kalman Filter for Nanosat Attitude Estimation
Daero Lee*, George Vukovich, and Regina Lee
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2161-2173, 2017
Abstract : "A robust unscented Kalman filter based on a multiplicative quaternion-error approach is proposed for
nanosat estimation in the presence of measurement faults. The global attitude parameterization is given by a quaternion,
while the local attitude error is defined using a generalized three-dimensional attitude representation. The
proposed algorithm uses a statistical function including measurement residuals to detect measurement faults and
then uses an adaptation scheme based on multiple measurement scale factor for filter robustness against faulty
measurements. The proposed algorithm is demonstrated for the attitude estimation of a nanosat with an on-board
three-axis magnetometer and rate-integrating gyros in the presence of measurement faults as well as satellite orbit
errors. To compare the estimation performance of the proposed algorithm, the robust unscented Kalman filter with
single measurement noise scale factor, the standard extended Kalman filter and the unscented Kalman filter are also
implemented under the same simulation conditions."
"Magnetometer, measurment fault, multiplicative quaternion-error approach, nanosat, robust unscented Kalman filter."