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Attitude estimation using an adaptive generalized complementary filter
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DOI：10.1016/j.measurement.2025.117265.png)
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Abstract
En 中文
A precise and reliable attitude estimation system is essential for the accurate motion control of micro-/nano-satellites. This paper proposes a generalized attitude estimation framework that integrates optimization techniques with an adaptive nonlinear complementary filter for multi-sensor systems. The framework utilizes the Levenberg-Marquardt optimization algorithm to derive quaternion measurements, which are used as attitude error inputs for an adaptive nonlinear filter. Compared with traditional complementary filters, the proposed approach offers broader applicability and enhanced adaptability through a parameter adjustment strategy. Comprehensive experiments, including performance evaluation, fault tolerance analysis, and real on-orbit data validation, confirm the framework's effectiveness and robustness. Results demonstrate that the proposed method provides efficient attitude angle estimations and gyro bias information, even in disturbed environments. Consequently, this scheme is well-suited for micro-/nano-satellite applications.
Keywords:
Attitude estimation
Micro-/nano-satellites
Gyro bias determination
Optimization algorithm
Complementary filter
Journal
IF:
5.6
Papers:
2.1W
Citations:
5.4W
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