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Evaluation of Murrell's EKF-Based Attitude Estimation Algorithm for Exploiting Multiple Attitude Sensor

Sharanabasaweshwara Asundi1, Norman Fitz-Coy2, Haniph Latchman3

  • 1Department of Mechanical and Aerospace Engineering, Old Dominion University, Norfolk, VA 23529, USA.

Sensors (Basel, Switzerland)
|October 13, 2021
PubMed
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For pico- and nano-satellites with limited attitude sensors, Murrell's extended Kalman filter (EKF) enables multiple sensor configurations. The magnetic field vector configuration offers superior precision and accuracy for satellite attitude estimation.

Area of Science:

  • Spacecraft engineering
  • Attitude determination and control systems
  • Estimation theory

Background:

  • Pico- and nano-satellites face constraints in accommodating multiple or redundant attitude sensors due to their size.
  • Existing attitude estimation methods may not be optimal for resource-limited small satellites.

Purpose of the Study:

  • To adapt Murrell's extended Kalman filter (EKF) for attitude estimation in pico- and nano-satellites.
  • To evaluate different attitude sensor configurations using the implemented EKF.

Main Methods:

  • Implementation of Murrell's EKF for attitude estimation.
  • Utilized a sun sensor suite and a magnetometer as primary attitude sensors.
  • Developed and compared three distinct sensor configurations for attitude estimation.
Keywords:
EKFMurrell’s EKFextended Kalman filternanosatelllitespicosatellitessatellite attitude estimation

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Main Results:

  • Successfully implemented three operationally commandable attitude estimation schemes.
  • The configuration using only the magnetic field vector demonstrated superior precision and accuracy.
  • This optimal configuration required a longer convergence time compared to other schemes.

Conclusions:

  • The magnetic field vector-only configuration is recommended for precise and accurate attitude estimation in small satellites.
  • Trade-offs between accuracy, convergence time, and sensor configuration must be considered for operational deployment.
  • Murrell's EKF provides a flexible framework for optimizing attitude determination on sensor-constrained spacecraft.