Adaptive pose and inertial parameters estimation of free-floating tumbling space objects using dual vector quaternions Article Swipe

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Xianghao Hou , Chuan Ma , Zheng Wang , Jianping Yuan ·

YOU? · · 2017 · Open Access · · DOI: https://doi.org/10.1177/1687814017714210

The robust parameter estimation of unknown space objects is essential to the on-orbit servicing missions. Based on the adaptive filtering techniques along with the dual quaternions modeling methods for pose estimation, this article proposes a dual vector quaternions–based extended Kalman filter and a dual vector quaternions–based adaptive fading factors extended Kalman filter to estimate the parameters of a free-floating tumbling space target. Using the dual vector quaternions to model the kinematics and dynamics of the system, the representation of the model is concise and compact. Also, the translational and rotational coupled effects are considered. In addition, the estimation algorithm is designed by the innovation-based multiple adaptive fading factors. As a result, the dual vector quaternions–based adaptive fading factors extended Kalman filter is robust against the faulty measurements which may lead to divergence of the traditional extended Kalman filter. As far as the authors know, both the designed filters are the first pose and inertial parameters estimation algorithms based on dual vector quaternions, and the dual vector quaternions–based adaptive fading factors extended Kalman filter is the first robust dual vector quaternions–based parameters estimating method. Finally, the proposed dual vector quaternions–based extended Kalman filter and dual vector quaternions–based adaptive fading factors extended Kalman filter are validated by mathematical simulations, and the dual vector quaternions–based adaptive fading factors extended Kalman filter is compared with the dual vector quaternions–based extended Kalman filter to show its robust performances.

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Computer Science

Fading

Inertial Navigation System

Mathematics

Algorithm

Artificial Intelligence

Geometry

Concepts

Quaternion Dual quaternion Kalman filter Control theory (sociology) Invariant extended Kalman filter Computer science Adaptive filter Fading Extended Kalman filter Inertial navigation system Mathematics Algorithm Artificial intelligence Orientation (vector space) Geometry Decoding methods Control (management)

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Type: article
Language: en
Landing Page: https://doi.org/10.1177/1687814017714210
PDF: https://journals.sagepub.com/doi/pdf/10.1177/1687814017714210
OA Status: gold
Cited By: 19
References: 28
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DOI: https://doi.org/10.1177/1687814017714210

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Title: Adaptive pose and inertial parameters estimation of free-floating tumbling space objects using dual vector quaternions

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Language: en

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Publication year: 2017

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Publication date: 2017-10-01

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Authors: Xianghao Hou, Chuan Ma, Zheng Wang, Jianping Yuan

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Landing page: https://doi.org/10.1177/1687814017714210

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Concepts: Quaternion, Dual quaternion, Kalman filter, Control theory (sociology), Invariant extended Kalman filter, Computer science, Adaptive filter, Fading, Extended Kalman filter, Inertial navigation system, Mathematics, Algorithm, Artificial intelligence, Orientation (vector space), Geometry, Decoding methods, Control (management)

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Cited by: 19

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Citations by year (recent): 2025: 2, 2023: 3, 2022: 1, 2020: 6, 2019: 5

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