(Markley 2014) Fundamentals of Spacecraft Attitude Determination and Control

Authors: FL Markley, John Crassidis
DOI: 10.1007/978-1-4939-0802-8

Note/Nomenclature:

• This book interpetes rotations/transformations in the passive/alias  sense (I’m not a fan)
• Quaternions in JPL conventions  instead of Hamiltonian (not a fan of this either…)
• Rotation matrix = attitude matrix

Introduction

• Attitude determination: memoryless approach without using statistics
• Attitude estimation: approaches with memory, uses statistical info from a series of measurements
  • filter approaches
  • uses a dynamic motion model of the object

Quaternions

• Quaternion conventions
• Quaternion multiplication

Rotations

“Euler’s theorem:  any rotation is a rotation about a fixed axis”

orientation-parametrisations

• Euler axis/angle representation
• Rotation vector representation
• Gibbs / Rodrigues parameter representation
• Modified Rodrigues parameters

Rotation error representation

Filtering

• Which orientation parametrisation to choose?
• Additive quaternion filtering
• Error-State Kalman Filter  /  multiplicative-quaternion-filtering
• Observation-of-the-error-state-filter-correction
• H-jacobian-matrix-in-the-eskf-filter-correction
• ESKF reset