Trajectory Simulation, Measurement and Estimation of a Small Sounding Rocket

In this paper, trajectory estimation for a small sounding rocket, based on low-cost sensors and a moderately accurate system model is described. A measurement system with low-cost sensors has been designed, and during calibration the performance of these sensors has been established. This measurement system has own in an actual small sounding rocket, the Stratos II concept launcher, and acceleration, angular velocity and atmospheric pressure data have been acquired. The extended Kalman lter is used as estimator for both position and attitude, with the attitude expressed as modied Rodrigues parameters and their shadow parameters. Measurements are generated from simulations of nominal and non-nominal ights, with nominal and non-nominal sensors, and used to verify the