UKF-based reconfigurable attitude parameters estimation and magnetometer calibration

Halil Ersin Soken*, Chingiz Hajiyev

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

50 Citations (Scopus)


A reconfigurable unscented Kalman filter (UKF)-based estimation algorithm for magnetometer biases and scale factors is proposed as a part of the attitude estimation scheme of a pico satellite. Unlike existing algorithms, in this paper, scale factors are not treated, together with other parameters, as part of the state vector; they are estimated separately. After satisfying the conditions of the proposed stopping rule for bias estimation, UKF reconfigures itself for estimation of attitude parameters alone.

Original languageEnglish
Article number6237612
Pages (from-to)2614-2627
Number of pages14
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number3
Publication statusPublished - 2012


We thank Sir Christopher White, Bt., for his helps during the grammatical review process of the paper. This work was supported in part by The Scientific and Technological Research Council of Turkey under Grant No. 108M523.

FundersFunder number
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu108M523


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