Recursive optimal linear attitude estimator based on star sensor and gyro

摘要

The optimal linear attitude estimation algorithm takes Rodrigues parameters as the attitude description, which has advantages of small computation volume and high accuracy. Based on the optimal linear attitude estimation algorithm, this article proposes a recursive optimal linear attitude estimator based on star sensor and gyro, introducing historical data and gyro data for auxiliary attitude determination. The fading memory factor is introduced to balance historical and current measurement data. Numerical simulation results show that the proposed algorithm has a higher accuracy than that of Quaternion Estimator (QUEST) and single frame method Linear Attitude Estimation (LAE). The analysis at different angular velocities shows that the algorithm has a wide range of adaptation to angular velocities and can be widely used in engineering tasks.