Attitude state estimation with multirate measurements for almost global attitude feedback tracking

Amit K. Sanyal, Nikolaj Nordkvist

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


A state estimation scheme that does not depend on the statistical distribution of bounded measurement noise is presented. This scheme is used to provide state estimates for feedback in an attitude tracking control scheme that exhibits almost global asymptotically stable tracking of a desired attitude trajectory with perfect state measurements. The control and estimation schemes use the global, unique representation of rigid body attitude provided by rotation matrices. Attitude and angular velocity state estimate updates are obtained from discrete multirate measurements using a deterministic filtering scheme. Propagation of discrete state estimates is carried out with a Lie group variational integrator, which preserves the orthogonality of rotation matrices during numerical propagation without reprojection. This integrator is also used to numerically simulate the feedback system. The performance of this attitude tracking control scheme is then compared with that of a recently reported quaternion observer-based continuous feedback attitude tracking scheme. This quaternion-based attitude tracking scheme is shown to exhibit unstable, unwinding behavior. Numerical simulation results for both these feedback tracking schemes are obtained for a satellite in circular Earth orbit tracking an oscillating angular velocity spin maneuver. These numerical results are then compared for control effort and time taken for the tracking errors to converge to the desired trajectory.

Original languageEnglish (US)
Pages (from-to)868-880
Number of pages13
JournalJournal of Guidance, Control, and Dynamics
Issue number3
StatePublished - 2012
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics


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