Error Covariance Analysis of a Karhunen-Loeve Collocation Estimator

An error covariance analysis of a two-dimensional gravity compensation technique (KLC) employing a Karhunen-Loeve gravity disturbance model and the linear least-square collocation algorithm for its estimation is presented, without actually using any data. Its performance is compared with another gravity compensation technique (KLE), whose error covariance analysis was previously presented by Gupta. From the mismodeling analysis, KLC appears to be superior to KLE.     

Design of multi-sensor attitude determination systems

The design of inexpensive multi-sensor attitude determination systems is discussed. The systems discussed fuse information from a triad of solid state rate gyros with an aiding system mechanized using GPS or magnetometers and accelerometers. Euler angle and quaternion-based sensor fusion algorithms are developed. Methods for gain scheduling and estimator pole placement are presented. Using simulation and flight test results, it is shown that quaternion-based algorithms simplify gain scheduling and improve transient response.