Estimation of Attitude from a Single-Direction Sensor

Authored by: Lionel Magnis , Nicolas Petit

Multisensor Attitude Estimation

Print publication date:  August  2016
Online publication date:  November  2016

Print ISBN: 9781498745710
eBook ISBN: 9781315368795
Adobe ISBN:


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Consider a reference vector a = (a1 a2 a3)T expressed in the inertial frame. Then, the expression a = (a1 a2 a3)T of a in the body frame at time t is 15.1 a(t)=R(t)Ta where R(t) is the attitude matrix. The variable a(t) is called a vector observation or vector measurement. This is the variable produced by a direction sensor such as a magnetometer or a Sun sensor, among several possibilities.

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