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Global Attitude Estimation using Single Direction Measurements

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4 Author(s)
Taeyoung Lee ; Michigan Univ., Ann Arbor ; Leok, M. ; McClamroch, N.H. ; Sanyal, A.

A deterministic attitude estimator for a rigid body under an attitude dependent potential is studied using small error assumptions. This estimator requires only a single direction measurement to a known reference point at each measurement instant. The measurement cannot completely determine the attitude, but an attitude estimation scheme based on this measurement is developed; a feasible set compatible with the measurement is described and it is combined with an attitude dynamics model to obtain an attitude estimate. The attitude is globally represented by a rotation matrix, and the uncertainties are described by ellipsoidal sets. A numerical example for a spacecraft in a circular orbit is presented.

Published in:

American Control Conference, 2007. ACC '07

Date of Conference:

9-13 July 2007