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High Resolution Filter for Stable Spacecraft Attitude Estimation
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis a filter for attitude estimation using sensor fusion of a Star Tracker and a Gyroscope are designed and implemented for integration on the European Data Relay satellite, EDRS. The performance of three filters, Multiplicative Extended Kalman Filter, Unscented Kalman Filter and Particle filter, are evaluated in terms of attitude error, covariance convergence and change of attitude knowledge uncertainty. The filters show similar performance on all three measures and the comparison becomes a question of implementation and computational load. The Multiplicative Extended Kalman Filter is better in both criteria and are chosen for integration on board.

Abstract [sv]

I detta examensarbete formuleras och implementeras ett filter för attitydestimering ombord satelliten European Data Relay Satellite. Filtret som utvecklas skall estimera attityden och vinkelhastigheten hos en satellit genom att blanda signalerna från en stjærnkamera och ett gyro. Prestandan hos tre olika utvidgade Kalmanfilter undersöks i fråga om estimeringsfel, konvergens av tillståndskovariansen och förändring i attitydskunskaposäkerhet (change i attitude knowledge uncertainty, CAKU). Alla tre filter uppvisar snarlik prestanda och valet av filter för implementering ombord faller då på det filter som har den enklaste implementationen och den minsta beräkningstyngden, det multiplikativa utvidgade Kalmanfiltret (Multiplicative Extended Kalman Filter, MEKF).

Place, publisher, year, edition, pages
TRITA-MAT-E, 2014:14
National Category
URN: urn:nbn:se:kth:diva-142358OAI: diva2:700163
Subject / course
Optimization and Systems Theory
Educational program
Master of Science - Mathematics
Available from: 2014-03-03 Created: 2014-02-28 Last updated: 2014-03-03Bibliographically approved

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