Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Spacecraft Moment of Inertial Estimation by Modified Rodrigues Parameters

Modified Rodrigues Parameter 기반의 인공위성 관성모멘트 추정 연구

  • 방효충 (한국과학기술원 기계항공시스템학부)
  • Received : 2009.12.02
  • Accepted : 2010.01.18
  • Published : 2010.03.01
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Abstract

This study addresses spacecraft moment of inertial estimation approach using Modified Rodrigues Parameters(MRP). The MRP offer advantage by avoiding singularity in Kalman Filter design for attitude determination caused by the norm constraint of quaternion parameters. Meanwhile, MRP may suffer singularity for large angular displacement, so that we designed appropriate reference attitude motion for accurate estimation. The proposed approach is expected to provide stable error covariance update with accurate spacecraft mass property estimation results.

본 연구에서는 인공위성의 관성 모멘트 추정을 위해 MRP(Modified Rodrigues Parameter) 자세 변수기반의 추정기를 설계하였다. MRP는 인공위성 자세 결정시 쿼터니 언(Quaternion) 파라미터의 구속 조건으로부터 발생하는 필터의 오차 공분산 행렬의 특이(Singularity) 현상을 피할 수 있는 장점이 있다. 한편 MRP의 경우 자세각 변위가 클 경우에 역시 특이현상이 발생할 수 있어 이를 피하기 위해 적절한 자세각 범위에서 인위적인 기준 운동을 생성하여 필터 설계에 적용하였다. 쿼터니언 파라미터의 단점을 극복하여 보다 안정된 오차 공분산 갱신 결과의 필터의 개선된 성능을 예상할 수 있다.

Keywords

References

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