Modified Kalman Filter for Generation of Attitude Error Corrections

摘要

Methods, systems, and computer-readable media are described herein for using a modified Kalman filter to generate attitude error corrections. Attitude measurements are received from primary and secondary attitude sensors of a satellite or other spacecraft. Attitude error correction values for the attitude measurements from the primary attitude sensors are calculated based on the attitude measurements from the secondary attitude sensors using expanded equations derived for a subset of a plurality of block sub-matrices partitioned from the matrices of a Kalman filter, with the remaining of the plurality of block sub-matrices being pre-calculated and programmed into a flight computer of the spacecraft. The propagation of covariance is accomplished via a single step execution of the method irrespective of the secondary attitude sensor measurement period.