Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Sensor Fusion Solutions for Upcoming CubeSat Missions
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis, an extended Kalman filter formulation for attitude estimation using inertial sensors is developed for implementation in a small satellite simulator. Two different attitude parametrizations are analyzed: quaternions and modified Rodrigues parameters, and for each parametrization, a Kalman filter is designed. This thesis also investigates the deterministic and random error sources of sensors measurements. A calibration procedure is proposed and conducted to eliminate the deterministic error sources. The random error is modeled with the Allan variance formulation and it is integrated in the Kalman filter. Simulations and experiments are conducted to validate the each Kalman filter algorithm. The results for the simulations with both attitude parametrizations are found to yield accurate attitude solutions. The advantage of the quaternion approach is that it does not have singularities, while the advantage of the modified Rodrigues parameters approach is that it is simpler since it has one less state. Experimental tests were conducted on a one-degree of freedom air bearing. The results from experimentation indicate that in reality, the filter results in a less accurate attitude solution than predicted by simulation. Suggestions to improve the filter performance are proposed at the end.

Place, publisher, year, edition, pages
2013. , 76 p.
Keyword [en]
Technology, Kalman filter, calibration, small satellite, attitude
Keyword [sv]
Teknik
Identifiers
URN: urn:nbn:se:ltu:diva-42384Local ID: 0656bef2-dbc8-4da5-90b3-58db2d557d22OAI: oai:DiVA.org:ltu-42384DiVA: diva2:1015605
External cooperation
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Examiners
Note
Validerat; 20130815 (global_studentproject_submitter)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

Open Access in DiVA

fulltext(4103 kB)94 downloads
File information
File name FULLTEXT02.pdfFile size 4103 kBChecksum SHA-512
0c16f1ab90792a5a694b4abeab3af118f17cde773cfc4de708ad7b395db86036e1d482c9db41679d980bfa0cb200ece4087d1d3345d0ec84d8caf8cc001e91da
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Barbosa, Mariana

Search outside of DiVA

GoogleGoogle Scholar
Total: 94 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 70 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf