LEADER 00000nam 2200349 4500
001 AAI1469112
005 20100608091156.5
008 100608s2009 ||||||||||||||||| ||eng d
020 9781109343830
035 (UMI)AAI1469112
040 UMI|cUMI
100 1 Nebelecky, Chris
245 10 Improved decentralized attitude estimates using the
covariance intersection algorithm
300 93 p
500 Source: Masters Abstracts International, Volume: 48-01,
page: 0471
500 Adviser: John L. Crassidis
502 Thesis (M.S.)--State University of New York at Buffalo,
2009
520 This thesis looks at achieving better attitude estimates
by using the Covariance Intersection algorithm to fuse
state estimates and covariances from various sources. The
attitude parameterization of choice is the quaternion.
Because of the norm constraint on the quaternion, the
Covariance Intersection algorithm is derived from an
augmented optimization problem using the method of
Lagrange multipliers to handle the constraint. When state
vectors include only a single quaternion, several analytic
solutions to the resulting CI equations exist. For state
vectors containing two or more quaternions, a multi-
variate Newton-Raphson algorithm is developed. Two
simulations are presented to show the advantage of the
Covariance Intersection algorithm as applied to spacecraft
attitude estimation. In each case, results from the
Covariance Intersection algorithm are superior to those
attained using simple extended Kalman filters
590 School code: 0656
650 4 Engineering, Aerospace
650 4 Engineering, Mechanical
690 0538
690 0548
710 2 State University of New York at Buffalo.|bMechanical and
Aerospace Engineering
773 0 |tMasters Abstracts International|g48-01
856 40 |uhttp://pqdd.sinica.edu.tw/twdaoapp/servlet/
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