TY - GEN
T1 - Decentralized attitude estimation using a quaternion covariance intersection approach
AU - Crassidis, John L.
AU - Cheng, Yang
AU - Fosbury, Adam M.
AU - Nebelecky, Christopher K.
PY - 2008
Y1 - 2008
N2 - This paper derives an approach to combine estimates and covariances for decentralized attitude estimation using a quaternion parameterization. The approach is based on the covariance intersection method, which is modified to maintain quaternion normalization in the combination process. A simple simulation result is provided where local extended Kalman filters are used on two star trackers, each running with common gyro measurements. The covariance intersection approach is shown to provide more accurate estimates than either of the local filters.
AB - This paper derives an approach to combine estimates and covariances for decentralized attitude estimation using a quaternion parameterization. The approach is based on the covariance intersection method, which is modified to maintain quaternion normalization in the combination process. A simple simulation result is provided where local extended Kalman filters are used on two star trackers, each running with common gyro measurements. The covariance intersection approach is shown to provide more accurate estimates than either of the local filters.
UR - https://www.scopus.com/pages/publications/62949246186
M3 - Conference contribution
AN - SCOPUS:62949246186
SN - 9780877035480
T3 - Advances in the Astronautical Sciences
SP - 423
EP - 444
BT - The F. Landis Markley Astronautics Symposium - Advances in the Astronautical Sciences
T2 - American Astronautical Society F. Landis Markley Astronautics Symposium
Y2 - 29 June 2008 through 2 July 2008
ER -