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American Institute of Aeronautics and Astronautics

    Course Outline

    Satellite Attitude Estimation

    Course Outline:

    I. Review of attitude parameterization methods
    a. Euler Angles
    b. Direction Cosine Matrix, Vector transformation
    c. Euler vector
    d. Quaternion
    e. Rodriguez parameters

    II. Review of attitude kinematics and dynamics
    a. Kinematic equation for vector, quaternion and direction cosine matrix
    b. Euler’s equation
    c. Deterministic attitude determination methods:
    i. TRIAD
    ii. Wahba’s problem
    iii. q-method, QUEST
    iv. Markley’s SVD and FOAM methods
    d. Example problems

    III. Stochastic State Estimation
    a. Review of Probability and Stochastic Processes concepts
    b. Elements of linear dynamical systems theory
    c. Kalman filtering theory
    d. Extension of Kalman filtering to nonlinear systems: the extended Kalman filter (EKF)

    IV. Application of Kalman filtering theory to attitude estimation
    a. Vector measurements
    b. Attitude measurement models and approaches
    c. State propagation
    d. State augmentation
    e. Attitude estimation from vector observations using the EKF
    f. Example Problems

    V. Advanced filtering methods (time permitting): sigma point, particle filtering