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Sensors 2010, 10(11), 9935-9947; doi:10.3390/s101109935

QMRPF-UKF Master-Slave Filtering for the Attitude Determination of Micro-Nano Satellites Using Gyro and Magnetometer

1
School of Instrumentation Science and Optoelectronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
2
School of Instrumentation Science and Optoelectronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
*
Author to whom correspondence should be addressed.
Received: 17 September 2010 / Revised: 10 October 2010 / Accepted: 15 October 2010 / Published: 5 November 2010
(This article belongs to the Section Chemical Sensors)
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Abstract

In this paper, the problem of estimating the attitude of a micro-nano satellite, obtaining geomagnetic field measurements via a three-axis magnetometer and obtaining angle rate via gyro, is considered. For this application, a QMRPF-UKF master-slave filtering method is proposed, which uses the QMRPF and UKF algorithms to estimate the rotation quaternion and the gyro bias parameters, respectively. The computational complexicity related to the particle filtering technique is eliminated by introducing a multiresolution approach that permits a significant reduction in the number of particles. This renders QMRPF-UKF master-slave filter computationally efficient and enables its implementation with a remarkably small number of particles. Simulation results by using QMRPF-UKF are given, which demonstrate the validity of the QMRPF-UKF nonlinear filter. View Full-Text
Keywords: attitude determination; gyro; magnetometer; QMRPF-UKF; master-slave filtering attitude determination; gyro; magnetometer; QMRPF-UKF; master-slave filtering
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Cui, P.; Zhang, H. QMRPF-UKF Master-Slave Filtering for the Attitude Determination of Micro-Nano Satellites Using Gyro and Magnetometer. Sensors 2010, 10, 9935-9947.

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