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Path: SpacecraftEstimation/AttitudeEstimation
% Outputs the set of acceptable attitude measurements from vectors.
Computes the measurement matrix, measurements and noise
matrix given a pixel map from the unit vector measurements. Will update
q if it has three valid vectors and the attitude error is large
threshold prevents bad measurement estimates if the attitude estimate
is greatly different from the actual attitude.
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Form:
[h, dz, R] = Measurements( r, sensorData, qECIToB, qBToS, catalog, fScale, threshold )
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Inputs
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r (1,1) Measurement noise
sensorData (:) Structure
.xy Pixel values in the xy focal plane
.valid 1 = valid measurement
qECIToB (4,1) Quaternion from ECI to body axes
qBToS (4,1) Quaternion from body to sensor axes
catalog (3,:) Target catalog unit vectors
fScale (1,1) Sensor scale factor
threshold (1,1) Threshold for sensor incorporation
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Outputs
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h (n,6) Linearized measurement matrix
dz (n) The measurement residuals
R (n,n) Measurement noise
qECIToB (4,1) Quaternion from ECI to body axes
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Common: Quaternion/Q2Mat Common: Quaternion/QForm Common: Quaternion/QMult Math: Linear/Skew SC: Sensor/U2Pix
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