Evaluation of Attitude and Orbit Estimation Using Actual Earth Magnetic Field Data

Asingle,augmentedextendedKalmane lter (EKF),whichsimultaneouslyandautonomouslyestimatesspacecraft attitude and orbit, hasbeen developed and successfully tested with real magnetometer and gyro data only. Because theEarthmagnetice eld isa functionoftimeand position,andbecausetimeisknownquiteprecisely,thedifferences between the computed and measured magnetic e eld components, as measured by the magnetometers throughout the entire spacecraft orbit, are a function of both orbit and attitude errors. Thus, conceivably these differences could be used to estimate both orbit and attitude; an observability study validated this assumption. The results of testing the EKF with actual magnetometer and gyro data, from four satellites supported by the NASA Goddard Space Flight Center Guidance, Navigation, and Control Center, are presented and evaluated. They cone rm the assumption that a single EKF can estimate both attitude and orbit when using gyros and magnetometers only.

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