Adaptive Iterated Extended KALMAN Filter for Relative Spacecraft Attitude and Position Estimation. Issue 4 (18th October 2017)

• Record Type: Journal Article
• Authors: Xiong, Kai; Wei, Chunling
• Is Part Of: Asian journal of control. Volume 20:Issue 4(2018)
• Page Start: 1595
• Page End: 1610
• Publication Date: 2017-10-18
• Subjects: Adaptive MAP estimation -- nonlinear system -- model uncertainty -- relative attitude and position estimation; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1689
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: This paper presents a novel adaptive iterated extended Kalman filter (AIEKF) for relative position and attitude estimation, taking into account the influence of model uncertainty. Considering a nonlinear stochastic discrete‐time system with unknown disturbance, the AIEKF algorithm adopts the Gauss‐Newton iterative optimization steps to implement a maximum a posteriori (MAP) estimation, and the switch‐mode combination technique is used to achieve the adaptive capability. The mean‐square estimation error (MSE) of the state estimate is derived. It is proved that the AIEKF can yield a smaller MSE than that of the traditional extended Kalman filter (EKF) or iterated extended Kalman filter (IEKF). The performance advantage of the AIEKF is illustrated via Monte Carlo simulations on a typical relative position and attitude estimation application. Through comparisons in different scenarios, the presented algorithm is shown to improve adaptability and ensure estimation accuracy.