Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2016.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2016
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| Online Access: | http://hdl.handle.net/1721.1/105621 |
| _version_ | 1826208755903102976 |
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| author | Marlow, Weston Alan Navarro |
| author2 | Kerri L. Cahoy. |
| author_facet | Kerri L. Cahoy. Marlow, Weston Alan Navarro |
| author_sort | Marlow, Weston Alan Navarro |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2016. |
| first_indexed | 2024-09-23T14:11:40Z |
| format | Thesis |
| id | mit-1721.1/105621 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:11:40Z |
| publishDate | 2016 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1056212019-04-10T11:19:50Z Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering Marlow, Weston Alan Navarro Kerri L. Cahoy. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Aeronautics and Astronautics. Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2016. Cataloged from PDF version of thesis. Includes bibliographical references (pages 123-128). CubeSats are a specific subset of nanosatellites, and their common form factor and canisterized deployers have made it possible to undertake higher risk, lower cost missions that can supplement the current generation of large, monolithic, expensive satellites. Our objective in this thesis is to improve attitude estimation on CubeSats using Unscented Kalman filters. CubeSats have evolved from their relatively low complexity and low computational power beginnings. This progression motivates us to revisit attitude determination estimation approaches commonly used for CubeSats, and to implement an alternative Kalman filtering method. Our goal is to improve the current state of the art in attitude estimation on previous MIT Space Systems Laboratory CubeSats by at least two orders of magnitude from about 1-5* attitude knowledge error down to 0.050 or better. This improvement benefits applications that require precise pointing, such as imaging and active tracking of specific targets, laser communications, and coordinated activity and observations among multiple CubeSats. We were able to achieve better than our pointing error goal of 0.05', and found that the proposed Unscented Kalman filter performed significantly better at high angular rate estimation than the Extended Kalman filter (already implemented on some CubeSats). The quaternion estimates were converted to Euler angles to improve ease of interpretation. For the majority of the missions, the mean total Euler angle estimation error improvement ranged from 83% - 98% with error variance decreased by as much as 98%. One implementation had more than a two order of magnitude improvement, to achieve 0.01* mean error, better than the desired pointing accuracy. We present a detailed assessment of these estimation errors, along with changes in quaternion error that accompany varying the unscented filter parameters. by Weston Alan Navarro Marlow. S.M. 2016-12-05T19:55:18Z 2016-12-05T19:55:18Z 2016 2016 Thesis http://hdl.handle.net/1721.1/105621 962735507 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 128 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Aeronautics and Astronautics. Marlow, Weston Alan Navarro Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering |
| title | Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering |
| title_full | Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering |
| title_fullStr | Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering |
| title_full_unstemmed | Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering |
| title_short | Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering |
| title_sort | improving attitude determination and control of resource constrained cubesats using unscented kalman filtering |
| topic | Aeronautics and Astronautics. |
| url | http://hdl.handle.net/1721.1/105621 |
| work_keys_str_mv | AT marlowwestonalannavarro improvingattitudedeterminationandcontrolofresourceconstrainedcubesatsusingunscentedkalmanfiltering |