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This paper presents a new method using UKF(unscented Kalman filtering) for estimating the attitude-quaternion as well as rate with magnetic field data from Three-Axis-Magnetometer(TAM). UKF is a new filtering method suitable to nonlinear systems. The magnetic field components are used to update as measurement is used to propagate the state vector. A globally self-initializing attitude determination filter has been developed to estimate three-axis attitude and attitude rate from magnetometer data only. This filter can serve as the main attitude determination system for a low-weight, low-budget, low-accuracy micro-satellite mission. In this paper, we present a new algorithm without gyro to determine the attitude and attitude rate simultaneously. Numerical simulations are given at last, and the algorithm is confirmed to be feasible and effective.
Computer Communication Control and Automation (3CA), 2010 International Symposium on (Volume:2 )
Date of Conference: 5-7 May 2010