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Path: SpacecraftEstimation/AttitudeEstimation
% A Kalman Filter using the sun vector and the earth vector for GEO.
The sun sensor boresight is the positive x body axis. The attitude base is
the output of a gyro. The attitude states are small angles.
See also KFilter.
The measurements are the Earth angle theta and sun vector uMeas.
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Form:
[p, x] = KFSunAndEarth2( p, x, d, w )
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Inputs
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p (6,6) Covariance matrix
x (6,1) State vector [attitude;gyroBias;attitudeBias]
d (1,1) .q (9,9) Plant noise
.r (4,4) Measurement noise
.u (3,1) Sun vector in the LVLH frame
.wO (1,1) Orbit rate
.theta (2,1) Earth sensor measurements
.noSun (1,1) Cosine of half FOV angle
.a (9,9) The state transition matrix
.b (9,9) The input matrix
.uMeas (3,1) Measured unit sun vector
.biasStates (1,1) If no, there are no estimates of biases
w (3,1) Gyro rates
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Outputs
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p (9,9) Covariance matrix
x (9,1) State vector [attitude;gyroBias;attitudeBias]
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Common: Estimation/KFilter
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