Optimal linear attitude estimators via geometric analysis |
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| Authors: | De-ren Gong Xiao-wei Shao Wei Li and Deng-ping Duan |
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| Institution: | institute of Aerospace Science ＆ Technology, Shanghai Jiao Tong University, Shanghai 200240, China |
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| Abstract: | Three optimal linear attitude estimators are proposed for single-point real-time estimation of spacecraft attitude using a
geometric approach. The final optimal attitude is represented by modified Rodrigues parameters (MRPs). After introducing incidental
right-hand orthogonal coordinates for each pair of measured values, three error vectors are obtained by the use of dot or/and
cross products. Corresponding optimality criteria are rigorously quadratic and unconstrained, which do not coincide with Wahba’s
constrained criterion. The singularity, which occurs when the principal angle is close to π, can be easily avoided by one
proper rotation. Numerical simulations show that the proposed three optimal linear estimators can provide a precision comparable
with those complying with the Wahba optimality definition, and have faster computational speed than the famous quaternion
estimator (QUEST). |
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