| 1. Identity statement | ||||
| Reference Type | Conference Paper (Conference Proceedings) | |||
| Site | mtc-m21c.sid.inpe.br | |||
| Holder Code | isadg {BR SPINPE} ibi 8JMKD3MGPCW/3DT298S | |||
| Identifier | 8JMKD3MGP3W34R/3RFK9HL | |||
| Repository | sid.inpe.br/mtc-m21c/2018/07.18.15.57 | |||
| Last Update | 2021:02.23.12.40.08 (UTC) simone | |||
| Metadata Repository | sid.inpe.br/mtc-m21c/2018/07.18.15.57.39 | |||
| Metadata Last Update | 2021:02.23.12.40.08 (UTC) simone | |||
| Secondary Key | INPE--PRE/ | |||
| Citation Key | GarciaPardKuga:2018:CuKaFi | |||
| Title | Nonlinear filtering for sequential spacecraft attitude estimation with real data: cubature kalman filter, unscented kalman filter and extended kalman filter  | |||
| Year | 2018 | |||
| Access Date | 2024, May 25 | |||
| Secondary Type | PRE CI | |||
| Number of Files | 1 | |||
| Size | 65 KiB | |||
| 2. Context | ||||
| Author | 1 Garcia, Roberta Veloso 2 Pardal, C. Paula M. 3 Kuga, Hélio Koiti | |||
| Resume Identifier | 1 2 3 8JMKD3MGP5W/3C9JHC9 | |||
| Group | 1 2 3 DIDMC-CGETE-INPE-MCTIC-GOV-BR | |||
| Affiliation | 1 Universidade de São Paulo (USP) 2 Universidade de São Paulo (USP) 3 Instituto Nacional de Pesquisas Espaciais (INPE) | |||
| Author e-Mail Address | 1 robertagarcia@usp.br 2 paulapardal@usp.br 3 helio.kuga@inpe.br | |||
| Conference Name | Cospar Scientific Assembly, 42 | |||
| Conference Location | Pasadena, California | |||
| Date | 14-22 July | |||
| History (UTC) | 2018-07-18 15:58:03 :: simone -> administrator :: 2018 2019-01-04 16:57:07 :: administrator -> simone :: 2018 2019-01-07 09:54:15 :: simone -> administrator :: 2018 2021-02-11 18:14:16 :: administrator -> simone :: 2018 | |||
| 3. Content and structure | ||||
| Is the master or a copy? | is the master | |||
| Content Stage | completed | |||
| Transferable | 1 | |||
| Content Type | External Contribution | |||
| Abstract | The purpose of this work is to analyze the performance of the Cubature Kalman Filter, Unscented Kalman Filter and Extended Kalman Filter estimators in the attitude estimation problem when submitted to real attitude sensors data. The Extended Kalman Filter (EKF) is the most used nonlinear filtering algorithm for the attitude estimation in real time. The EKF is the nonlinear version of the Kalman Filter which linearizes about an estimate of the current mean and covariance. However, when the filter is subjected to poor conditions, the linearization of the system may not be efficient and lead to an estimation of low accuracy and divergence of the filter. The Unscented Kalman Filter (UKF) is an algorithm that was developed in order to avoid the linearizations required by the EKF. Basically, the UKF uses a set of points chosen deterministically, called sigma-points, to capture the probability distribution and generalizes to nonlinear system without the burdensome analytic derivation as in the EKF. More recently, the Cubature Kalman Filter (CKF) was proposed as an alternative estimation algorithm for general nonlinear systems. The CKF, which builds on the numerical-integration perspective of Gaussian filters, employs a third-degree spherical-radical cubature rule to compute Gaussianweighted integrals, derivative-free nonlinear filtering algorithm with improved performance over the UKF in terms of estimation accuracy, numerical stability and computational costs. In this work, the application uses the real measurement data for orbit and attitude of the CBERS-2 (China Brazil Earth Resources Satellite) satellite. The attitude dynamical model is described by nonlinear equations involving the Euler angles. The attitude sensors available are two DSS (Digital Sun Sensors), two IRES (Infra-Red Earth Sensor), and one triad of mechanical gyros. The analyzes are based on the robustness of the filter, in relation to the precision, computational cost and convergence speed in attitude estimation. As the use of real data makes it impossible to compare the estimated results with the real attitude of the satellite, then the results obtained via EKF are taken as reference for comparison with the UKF and CKF. The results in this work show that, for the case studied in this article, the filters are very competitive and present advantages and disadvantages that should be evaluated according to the need of each problem. | |||
| Area | ETES | |||
| doc Directory Content | access | |||
| source Directory Content | there are no files | |||
| agreement Directory Content |
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| 4. Conditions of access and use | ||||
| data URL | http://urlib.net/ibi/8JMKD3MGP3W34R/3RFK9HL | |||
| zipped data URL | http://urlib.net/zip/8JMKD3MGP3W34R/3RFK9HL | |||
| Language | en | |||
| Target File | garcia_nonlinear.pdf | |||
| User Group | simone | |||
| Reader Group | administrator simone | |||
| Visibility | shown | |||
| Update Permission | not transferred | |||
| 5. Allied materials | ||||
| Next Higher Units | 8JMKD3MGPCW/446AF4B | |||
| Citing Item List | sid.inpe.br/mtc-m21/2012/07.13.14.49.46 2 | |||
| Host Collection | urlib.net/www/2017/11.22.19.04 | |||
| 6. Notes | ||||
| Empty Fields | archivingpolicy archivist booktitle callnumber copyholder copyright creatorhistory descriptionlevel dissemination doi e-mailaddress edition editor format isbn issn keywords label lineage mark mirrorrepository nextedition notes numberofvolumes orcid organization pages parameterlist parentrepositories previousedition previouslowerunit progress project publisher publisheraddress readpermission rightsholder schedulinginformation secondarydate secondarymark serieseditor session shorttitle sponsor subject tertiarymark tertiarytype type url versiontype volume | |||
| 7. Description control | ||||
| e-Mail (login) | simone | |||
| update | ||||