Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance

Demet Cilden Guler; Chingiz Hajiyev

doi:10.1109/RAST.2017.8002963

Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance

Demet Cilden Guler, Chingiz Hajiyev

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper describes singular value decomposition (SVD) aided extended Kalman filter (EKF) for nanosatellite's attitude estimation. The development of the filter kinematic/dynamic model, and the measurement models of the sun sensors, and the magnetometers which are used to generate vector measurements is presented. Vector measurements are used in SVD for satellite attitude determination purpose. In the proposed method EKF inputs are coming from SVD as the linear measurements of attitude angles and their error covariance. In this step, UD is factorizing the attitude angles error covariance with forming the measurements in order to obtain the appropriate inputs for the EKF. Results are presented and analyzed in addition that the necessity of the sub-step which is the UD factorization on the measurement covariance is discussed. On the whole, the filter meets the expected accuracy, and robustness.

Original language	English
Title of host publication	Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017
Editors	M.F. Unal, A. Hacioglu, M.S. Yildiz, O. Altan, M. Yorukoglu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	343-348
Number of pages	6
ISBN (Electronic)	9781538616031
DOIs	https://doi.org/10.1109/RAST.2017.8002963
Publication status	Published - 4 Aug 2017
Event	8th International Conference on Recent Advances in Space Technologies, RAST 2017 - Istanbul, Turkey Duration: 19 Jun 2017 → 22 Jun 2017

Publication series

Name	Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017

Conference

Conference	8th International Conference on Recent Advances in Space Technologies, RAST 2017
Country/Territory	Turkey
City	Istanbul
Period	19/06/17 → 22/06/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

EKF
SVD
UD factorization
attitude estimation
nanosatellite

Access to Document

10.1109/RAST.2017.8002963

Cite this

Guler, D. C., & Hajiyev, C. (2017). Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance. In M. F. Unal, A. Hacioglu, M. S. Yildiz, O. Altan, & M. Yorukoglu (Eds.), Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017 (pp. 343-348). Article 8002963 (Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RAST.2017.8002963

Guler, Demet Cilden ; Hajiyev, Chingiz. / Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance. Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017. editor / M.F. Unal ; A. Hacioglu ; M.S. Yildiz ; O. Altan ; M. Yorukoglu. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 343-348 (Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017).

@inproceedings{62efbe9272d2451db8b8f50ab73adaad,

title = "Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance",

abstract = "This paper describes singular value decomposition (SVD) aided extended Kalman filter (EKF) for nanosatellite's attitude estimation. The development of the filter kinematic/dynamic model, and the measurement models of the sun sensors, and the magnetometers which are used to generate vector measurements is presented. Vector measurements are used in SVD for satellite attitude determination purpose. In the proposed method EKF inputs are coming from SVD as the linear measurements of attitude angles and their error covariance. In this step, UD is factorizing the attitude angles error covariance with forming the measurements in order to obtain the appropriate inputs for the EKF. Results are presented and analyzed in addition that the necessity of the sub-step which is the UD factorization on the measurement covariance is discussed. On the whole, the filter meets the expected accuracy, and robustness.",

keywords = "EKF, SVD, UD factorization, attitude estimation, nanosatellite",

author = "Guler, {Demet Cilden} and Chingiz Hajiyev",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 8th International Conference on Recent Advances in Space Technologies, RAST 2017 ; Conference date: 19-06-2017 Through 22-06-2017",

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doi = "10.1109/RAST.2017.8002963",

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Guler, DC & Hajiyev, C 2017, Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance. in MF Unal, A Hacioglu, MS Yildiz, O Altan & M Yorukoglu (eds), Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017., 8002963, Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017, Institute of Electrical and Electronics Engineers Inc., pp. 343-348, 8th International Conference on Recent Advances in Space Technologies, RAST 2017, Istanbul, Turkey, 19/06/17. https://doi.org/10.1109/RAST.2017.8002963

Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance. / Guler, Demet Cilden ; Hajiyev, Chingiz.
Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017. ed. / M.F. Unal; A. Hacioglu; M.S. Yildiz; O. Altan; M. Yorukoglu. Institute of Electrical and Electronics Engineers Inc., 2017. p. 343-348 8002963 (Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper describes singular value decomposition (SVD) aided extended Kalman filter (EKF) for nanosatellite's attitude estimation. The development of the filter kinematic/dynamic model, and the measurement models of the sun sensors, and the magnetometers which are used to generate vector measurements is presented. Vector measurements are used in SVD for satellite attitude determination purpose. In the proposed method EKF inputs are coming from SVD as the linear measurements of attitude angles and their error covariance. In this step, UD is factorizing the attitude angles error covariance with forming the measurements in order to obtain the appropriate inputs for the EKF. Results are presented and analyzed in addition that the necessity of the sub-step which is the UD factorization on the measurement covariance is discussed. On the whole, the filter meets the expected accuracy, and robustness.

AB - This paper describes singular value decomposition (SVD) aided extended Kalman filter (EKF) for nanosatellite's attitude estimation. The development of the filter kinematic/dynamic model, and the measurement models of the sun sensors, and the magnetometers which are used to generate vector measurements is presented. Vector measurements are used in SVD for satellite attitude determination purpose. In the proposed method EKF inputs are coming from SVD as the linear measurements of attitude angles and their error covariance. In this step, UD is factorizing the attitude angles error covariance with forming the measurements in order to obtain the appropriate inputs for the EKF. Results are presented and analyzed in addition that the necessity of the sub-step which is the UD factorization on the measurement covariance is discussed. On the whole, the filter meets the expected accuracy, and robustness.

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Guler DC , Hajiyev C. Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance. In Unal MF, Hacioglu A, Yildiz MS, Altan O, Yorukoglu M, editors, Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 343-348. 8002963. (Proceedings of 8th International Conference on Recent Advances in Space Technologies, RAST 2017). doi: 10.1109/RAST.2017.8002963

Integrated SVD/EKF attitude estimation with UD factorization of the measurement noise covariance

Abstract

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Keywords

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