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Fig. 13-4. Block Diagram of Kaiman Filter Algorithm

Fig. 13-4. Block Diagram of Kaiman Filter Algorithm spacecraft was Earth-pointing and three-axis stabilized by an active onboard control system. The motion about the three axes was assumed to be uncoupled and each axis was modeled independently. The dynamic model for any one of the three axes is of the form xx = 9 x2 = xx = 9 x3 = x2 = 9 x3 = n where 9 is a small angular deviation from a known reference attitude and n is zero mean white noise. The matrix form of the above equation is at where x=(x,,jc2,jc3)t, N=(0,0, 1)t, and at

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