Reconfigurable UKF for in-flight magnetometer calibration and attitude parameter estimation

Halil E. Soken*, Chingiz Hajiyev

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Citations (Scopus)

Abstract

In this study a reconfigurable unscented Kalman filter (UKF) based algorithm for the estimation of magnetometer biases and scale factors is proposed as a part of the attitude estimation scheme of a pico satellite. Algorithm is composed of two stages; in first stage UKF estimates magnetometer biases and scale factors as well as six attitude parameters of the satellite. Differently from the existing algorithms, scale factors are not treated together with the other parameters as a part of the state vector; three scale factors are estimated via a newly proposed extension for the UKF. After a convergence rule for the biases second stage starts and the UKF reconfigures itself for the estimation of only attitude parameters. At this stage filter regards the biases and scale factors estimated at the initial stage. Proposed algorithm is simulated for attitude estimation of a pico satellite which has three magnetometers and three rate gyros as measurement sensors.

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Pages741-746
Number of pages6
Edition1 PART 1
ISBN (Print)9783902661937
DOIs
Publication statusPublished - 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume44
ISSN (Print)1474-6670

Funding

This work was supported in part by TUBITAK (The Scientific and Technological Research Council of Turkey) under Grant 108M523.

FundersFunder number
TUBITAK
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu108M523

    Keywords

    • Attitude algorithms
    • Calibration
    • Estimation parameters
    • Kalman filters
    • Satellite applications

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