Estimating attitude from vector observations using a genetic algorithm-embedded quaternion particle filter Academic Article uri icon


  • A novel algorithm is presented for the estimation of spacecraft attitude, represented by the rotation quaternion, from vector observations. Belonging to the class of Monte Carlo sequential methods, the new estimator is a particle filter that uses approximate numerical representation techniques for performing the otherwise exact time propagation and measurement update of potentially non-Gaussian probability density functions (pdf) in inherently nonlinear systems. The paper develops the filter and its implementation in the case of a low Earth orbit (LEO) spacecraft, acquiring noisy Geomagnetic field measurements via a three-axis magnetometer (TAM). A genetic algorithm is used to estimate the gyro bias parameters, avoiding the need to expand the particle filter's state. This renders the new estimator highly efficient and enables its implementation with a remarkably small number …

publication date

  • August 1, 2004