Design of an Extended Interacting Multiple Models Adaptive Estimator for Attitude Determination of a Stereoimagery Satellite

Table 5

Comparison of attitude estimation methods.

Method	Gyro noise characteristics	Star sensor noise characteristics	1 sigma estimation error
			Roll; deg.	Pitch; deg.	Yaw; deg.
EKF [21]	𝜎𝑟=√10×10^−10 rad/sec^3/2; 𝜎𝑎=√10×10^−7 rad/sec^1/2	(σ x,σ y) = 3.6 to 6 arcsec; σ z = 70.8 to 180 arcsec	0.00066	0.00072	0.00499
EKF [17]	𝜎𝑟=4.8×10^−11 rad/sec^3/2; 𝜎𝑎=1.3×10^−10 rad/sec^1/2	(σ x, σ y) = 10 arcsec; σ z = 20 arcsec	0.00172	0.00155	0.00172
MMAE [18]	𝜎𝑟=√10×10^−10 rad/sec^3/2; 𝜎𝑎=2.9×10^−5 rad/sec^1/2	(σ x, σ y,σ z) = 3.6 arcsec	0.0016	0.0015	0.0015
IMMAE [18]	𝜎𝑟=√10×10^−10 rad/sec^3/2; 𝜎𝑎=2.9×10^−5 rad/sec^1/2	(σ x,σ y,σ z) = 3.6 arcsec	0.0013	0.0012	0.0013
EIMMAE*	𝜎𝑟=3×10^−10 rad/sec^3/2; 𝜎𝑎=3×10^−6 rad/sec^1/2	(σ x,σ y) = 3.6 to 6 arcsec; σ z = 70.8 to 180 arcsec	0.00032	0.00031	0.0027

* The attitude estimator proposed in this paper.