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Abstract and Applied Analysis
Volume 2014, Article ID 159149, 7 pages
Research Article

Robust Adaptive Filter for Small Satellite Attitude Estimation Based on Magnetometer and Gyro

1Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China
2Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China

Received 1 March 2014; Revised 4 May 2014; Accepted 4 May 2014; Published 26 May 2014

Academic Editor: Hamid Reza Karimi

Copyright © 2014 Zhankui Zeng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Based on magnetometer and gyro measurement, a sequential scheme is proposed to determine the orbit and attitude of small satellite simultaneously. In order to reduce the impact of orbital errors on attitude estimation, a robust adaptive Kalman filter is developed. It uses a scale factor and an adaptive factor, which are constructed by Huber function and innovation sequence, respectively, to adjust the covariance matrix of system state and observational noise, change the weights of predicted and measured parameters, get suitable Kalman filter gain and approximate optimal filtering results. Numerical simulations are carried out and the proposed filter is approved to be robust for the noise disturbance and parameter uncertainty and can provide higher accuracy attitude estimation.