Unscented Kalman Filter を用いた故障衛星のロバストな姿勢運動推定 Robust Attitude Motion Estimation for Uncontrolled Satellites Using the Unscented Kalman Filter
The attitude motion estimation of objects in orbit, especially uncontrolled satellites owing to failures, is an elemental technology in space environmental preservation missions, such as debris removal and on-orbit servicing. This paper proposes a marker-based attitude estimation approach that enables the accurate estimation even when there exists uncertainty in observation and a lack of prior information such as inertial parameters. For estimating states in nonlinear systems such as attitude motion, the Unscented Kalman Filter is used because of high-accurate performance. Simulation results indicate that this method is able to achieve simultaneous estimation of states and parameters successfully in nonlinear systems, and is robust against misreading by an observer.
- 日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences
日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences 56(649), 65-71, 2008-02-05