Utilizacao Conjunta de Sensores Inerciais E Naoinerciais Em Determinacao de Atitude de Satelites Via Filtro de Kalman (Utilization of Strapdown Inertial and Non-Inertial Sensors in Determination of Satellite Attitude by Kalman Fil

摘要

Four procedures utilizing inertial sensors (gyrometers) and non-inertial sensors (sun and horizon sensors) in the attitude determination of low-orbit artificial satellites are compared. The parameterized state estimation in quaternion is made through the Extended Kalman Filter. The use of the quaternion as state parameterization results in some problems in Kalman Filter application. These problems are due to the error covariance matrix singularity in the parameterized state, which is a difficult condition to be maintained numerically. Four procedures that avoid this difficulty are analyzed. Performance comparison and analysis of these procedures are made through digital simulation.