Sequential gyroless attitude and attitude-rate estimation from vector observations 1 1 Paper IAF 97.

Abstract A sequential nonlinear estimator is presented for satellite attitude and attitude-rate, which utilizes vector observations in a gyroless setting. The estimator is based on a recently introduced, third-order, minimal-parameter method for solving the attitude matrix kinematic equation. Possessing an extremely simple kinematics, the third-order parameters render the resulting estimator highly computationally efficient. Employing tracking theory concepts, the angular acceleration is modeled as an exponential autocorrelation stochastic process, thus avoiding the use of the uncertain spacecraft dynamic model. An attitude matrix orthogonalization procedure, built into the estimator’s scheme, enhances its accuracy and robustness, yet retains reasonable simplicity. The estimator’s performance is demonstrated via a Monte Carlo simulation study.