In this section
@article{Ahmed:2011:10.3182/20110828-6-IT-1002.02001,
author = {Ahmed, S and Kerrigan, EC},
doi = {10.3182/20110828-6-IT-1002.02001},
journal = {IFAC Proceedings Volumes IFAC Papersonline},
pages = {5807--5812},
title = {Robust static attitude determination via robust optimization},
url = {http://dx.doi.org/10.3182/20110828-6-IT-1002.02001},
volume = {44},
year = {2011}
}
TY - JOUR
AB - We address the problem of robust attitude determination using a static approach. In contrast to the dynamic approach, a static approach does not depend on the system dynamics. This approach only requires measurements of some vectors, such as the earth magnetic field, sun vector, etc in two different coordinate frames. These vectors, obtained from some sensor or a mathematical model, may not be accurate due to sensor errors and modeling inaccuracies. We consider all such errors as infinity-norm bounded uncertainties and our main focus is to obtain an attitude estimate, which is least sensitive to such uncertainties. We formulate a robust optimization (RO) problem with a quadratic cost and nonlinear constraints and propose a solution using a quaternion approach with an affine uncertainty parameterization. We transform the RO problem into a suboptimal minimization problem, which is non-convex but can be solved with a good initial guess using a nonlinear optimization solver. The results show a significant advantage of the proposed approach for the worst case uncertainties. © 2011 IFAC.
AU - Ahmed,S
AU - Kerrigan,EC
DO - 10.3182/20110828-6-IT-1002.02001
EP - 5812
PY - 2011///
SN - 1474-6670
SP - 5807
TI - Robust static attitude determination via robust optimization
T2 - IFAC Proceedings Volumes IFAC Papersonline
UR - http://dx.doi.org/10.3182/20110828-6-IT-1002.02001
VL - 44
ER -