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Real-time, single-trame, optimal attitude estimation using horizon sensor and magnetometer data

机译：使用水平传感器和磁力计数据进行实时，单轨迹，最佳姿态估计

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Horizon sensor and magnetometer data are combined and used to provide an optimal 3-axis attitude estimate in real-time. Given the two measurement vectors, nadir and geomagnetic field in body coordinates, a loss function is constructed using the attitude matrix and the expected values of the vectors in a reference coordinate system. The loss function is then minimized to provide the best estimate of the attitude matrix. The reference vectors are provided by a modified (J2) Keplarian propagator and the 1995 World Magnetic Model (WMM95) 12-th-order geomagnetic field coefficients. The approach is implemented on a laptop PC for real-time flight operations using the Visual Basic language. The system is designed to provide operational insight into the complete attitude and rate situation of a spacecraft that uses a momentum bias attitude control system with quarter orbit coupling to control yaw. Thus, the system provides flight controllers with full attitude insight despite the fact that a yaw solution is not computed onboard the spacecraft. This paper presents a summary of the approach and implementation along with test and flight operations results from the Wake Shield Facility missions on STS-69 and STS-80.
机译：结合了地平线传感器和磁力计数据，并用于实时提供最佳的3轴姿态估计。给定人体坐标系中的最低点和地磁场这两个测量向量，使用姿态矩阵和参考坐标系中向量的期望值构造损失函数。然后将损失函数最小化，以提供姿态矩阵的最佳估计。参考矢量由经过修改的（J2）Keplarian传播器和1995年世界磁场模型（WMM95）的12阶地磁场系​​数提供。该方法在便携式PC上实现，以使用Visual Basic语言进行实时飞行操作。该系统旨在提供对航天器完整姿态和速率情况的操作洞察力，该航天器使用带有四分之一轨道耦合的动量偏置姿态控制系统来控制偏航。因此，尽管未在航天器上计算偏航解，但该系统仍为飞行控制器提供了完整的姿态洞察力。本文概述了该方法和实施，以及STS-69和STS-80的“唤醒盾构设施”任务的测试和飞行操作结果。

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