Q-Adaptation of SVD-aided UKF Algorithm for Nanosatellite Attitude Estimation

Hacızade C., Soken H. E., Guler D. C.

20th World Congress of the International-Federation-of-Automatic-Control (IFAC), Toulouse, France, 9 - 14 July 2017, vol.50, pp.8273-8278 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 50
  • Doi Number: 10.1016/j.ifacol.2017.08.1399
  • City: Toulouse
  • Country: France
  • Page Numbers: pp.8273-8278
  • Keywords: Attitude estimation, adaptive unscented Kalman filtering, single-frame estimator, magnetometer, Sun sensor, FILTERS
  • Middle East Technical University Affiliated: No


In this study, we propose process noise covariance matrix adaptation (Q-adaptation) for the Singular Value Decomposition (SVD) aided Unscented Kalman Filter (UKF) algorithm. The main aim is to make the algorithm adaptive against the changes in the process noise covariance. The SVD-aided Adaptive UKF (SaAUKF) estimates the attitude and attitude rate of a nano satellite. We implement the SVD method in the algorithm's first phase using magnetometer and sun sensor measurements. It estimates the attitude of the nano satellite giving one estimate at a single-frame. Then these estimated attitude terms are fed into the Adaptive UKF. The SaAUKF algorithm estimates the spacecraft attitude rates and provides finer attitude estimations. We investigate the performance of the algorithm when the process noise increases, which is very likely as a result of changes in the spacecraft dynamics in different environments. The results are compared with those of a non-Q-adaptive version of the algorithm. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.