Global Attitude Estimation using Single Direction Measurements
Optimization and Control
2007-05-23 v1
Abstract
A deterministic attitude estimator for a rigid body under an attitude dependent potential is studied. This estimator requires only a single direction measurement to a known reference point at each measurement instant. The measurement cannot completely determine the attitude, but an attitude estimation scheme based on this measurement is developed; a feasible set compatible with the measurement is described and it is combined with an attitude dynamics model to obtain an attitude estimate. The attitude is globally represented by a rotation matrix, and the uncertainties are described by ellipsoidal sets. A numerical example for a spacecraft in a circular orbit is presented.
Keywords
Cite
@article{arxiv.math/0609481,
title = {Global Attitude Estimation using Single Direction Measurements},
author = {Taeyoung Lee and Melvin Leok and N. Harris McClamroch and Amit K. Sanyal},
journal= {arXiv preprint arXiv:math/0609481},
year = {2007}
}
Comments
7 pages, 4 figures. Submitted to the American Control Conference, 2007