An Overview of Spacecraft Attitude Determination and Estimation
This webcast will provide a general overview of attitude determination estimation. First, a review of attitude kinematics, in particular quaternions, is shown. Then, a solution to the point-by-point batch least squares problem, known as Wahba’s problem, is given. The attitude covariance is then derived and its relationship to maximum likelihood is shown. Next, an attitude Kalman filter-based estimator using attitude and gyro measurements coupled with quaternion kinematics is derived. Examples from practical scenarios and real missions are shown.