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, 
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/