TY - GEN
T1 - REKF and RUKF development for pico satellite attitude estimation in the presence of measurement faults
AU - Soken, Halil Ersin
AU - Hajiyev, Chingiz
PY - 2011
Y1 - 2011
N2 - When a pico satellite is under normal operational conditions, whether it is Extended or Unscented, a conventional Kalman Filter gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, Kalman filter gives inaccurate results and diverges by time. This study compares two different robust Kalman filtering algorithms; Robust Extended Kalman Filter (REKF) and Robust Unscented Kalman Filter (REKF) for the case of measurement malfunctions. In both filters by the use of defined variables named as measurement noise scale factor, the faulty measurements are taken into the consideration with a small weight and the estimations are corrected without affecting the characteristic of the accurate ones. Proposed robust Kalman filters are applied for the attitude estimation process of a pico satellite and the results are compared.
AB - When a pico satellite is under normal operational conditions, whether it is Extended or Unscented, a conventional Kalman Filter gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, Kalman filter gives inaccurate results and diverges by time. This study compares two different robust Kalman filtering algorithms; Robust Extended Kalman Filter (REKF) and Robust Unscented Kalman Filter (REKF) for the case of measurement malfunctions. In both filters by the use of defined variables named as measurement noise scale factor, the faulty measurements are taken into the consideration with a small weight and the estimations are corrected without affecting the characteristic of the accurate ones. Proposed robust Kalman filters are applied for the attitude estimation process of a pico satellite and the results are compared.
KW - attitude estimation
KW - EKF
KW - robust Kalman filtering
KW - UKF
UR - http://www.scopus.com/inward/record.url?scp=80052112184&partnerID=8YFLogxK
U2 - 10.1109/RAST.2011.5966972
DO - 10.1109/RAST.2011.5966972
M3 - Conference contribution
AN - SCOPUS:80052112184
SN - 9781424496143
T3 - RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies
SP - 891
EP - 896
BT - RAST 2011 - Proceedings of 5th International Conference on Recent Advances in Space Technologies
T2 - 5th International Conference on Recent Advances in Space Technologies, RAST 2011
Y2 - 9 June 2011 through 11 June 2011
ER -