| 摘要 |
PROBLEM TO BE SOLVED: To estimate the attitude of an artificial satellite only by information from a gyro without requiring any sensor such as a star tracker. SOLUTION: This attitude estimating device is provided with a Kalman filter 3 receiving a state quantityω(t) from an inertial measurement device 1 to input it to a predetermined system equation and observation equation and performing time updating processing and observation updating processing about this, a processing part 4 generating an estimated value of time differentiation of correction Rodriguez parameterα(t) on the basis of an output from the Kalman filter, an integration processing part 5 generating an estimated value of the correction Rodriguez parameter on the basis of an output from the processing part 4, a system propagation matrix generating part 6 updating an observation sensitivity matrix on the basis of a previously given initial value and an output from the integration processing part and feeding the updated output to the Kalman filter, a conversion matrix generation part 7 generating a coordinate conversion matrix R on the basis of the output from the integration processing part, and an attitude estimating part 8 estimating the attitude on the basis of the output from the conversion matrix generation part.
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