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Decentralized Attitude Estimation Using a Quaternion Covariance Intersection Approach

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Abstract

This paper derives an approach to combine estimates and covariances for decentralized attitude estimation using a quaternion parameterization. The approach is based on the covariance intersection method, which is modified to maintain quaternion normalization in the combination process. A practical simulation result is provided where local extended Kaiman filters are used on two star trackers, each running with common gyro measurements. The covariance intersection approach is shown to provide more accurate estimates than either of the local filters.

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Authors and Affiliations

  1. Department of Mechanical & Aerospace Engineering, University at Buffalo, State University of New York, Amherst, NY, 14260-4400

    John L. Crassidis (Professor) & Christopher K. Nebelecky (Graduate Student)

  2. Department of Aerospace Engineering, Mississippi State University, Mississippi State, MS, 39762

    Yang Cheng (Assistant Professor)

  3. Johns Hopkins Applied Physics Laboratory, Laurel, MD, 20723

    Adam M. Fosbury (Senior Professional Staff)

Authors
  1. John L. Crassidis
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  2. Yang Cheng
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  3. Christopher K. Nebelecky
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  4. Adam M. Fosbury
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Corresponding author

Correspondence to John L. Crassidis.

Additional information

Presented at the F. Landis Markley Astronautics Symposium, Cambridge, Maryland, June 29–July 2,2008.

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Crassidis, J.L., Cheng, Y., Nebelecky, C.K. et al. Decentralized Attitude Estimation Using a Quaternion Covariance Intersection Approach. J of Astronaut Sci 57, 113–128 (2009). https://doi.org/10.1007/BF03321497

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