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The Journal of the Astronautical Sciences

, Volume 57, Issue 4, pp 777–791 | Cite as

Nonsingular Attitude Filtering Using Modified Rodrigues Parameters

  • Christopher D. Karlgaard
  • Hanspeter Schaub
Article

Abstract

A method to estimate the general rigid body attitude using a minimal modified Rodrigues parameters (MRP) coordinate set is presented. The singularity avoidance technique is based on the stereographic projection properties of the MRP set, and makes use of a simple mapping relationship between MRP representations. Previous work has used the MRP duality to avoid singular attitude descriptions but has ignored the associated covariance transformation. This article presents a mapping to transform the state covariance matrix between these two representations as the attitude description is mapped between the two possible MRP sets. Second-order covariance transformations suitable for divided difference filtering are also provided. The MRP filter formulation based on extended Kalman filtering and divided difference filtering is compared with a standard multiplicative quaternion Kalman filter in an example problem.

Keywords

Kalman Filter Mapping Relationship Aerospace Technology State Covariance Stereographic Projection 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© American Astronautical Society, INC 2009

Authors and Affiliations

  1. 1.Analytical Mechanics Associates, Inc.Hampton
  2. 2.Aerospace Engineering Sciences DepartmentUniversity of ColoradoBoulder

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