The problem of estimating the mass properties of a spinning rigid body is considered. The parameter estimation method allows determination of both the inertia matrix and the position of the center of mass. The regressor model constructed is nonlinear in measurements but linear in mass properties. It does not involve linearization of the rotational dynamics of a rigid body. Use of coasting maneuvers for inertia estimation is the main feature of the method. This improves inertia estimation, especially in the presence of long coasting phases. A geometrical interpretation of inertia estimation is also introduced. The optimal choice of body-fixed coordinate system and maneuver sequences for mass property estimation are recommended based on stochastic analysis of the method. The method proposed is tested on both simulated and actual on-orbit data. References: 10
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