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Investigation of the Attitude Error Vector Reference Frame in the INS EKF

Steffes, Stephen R. and Steinbach, Jan Philipp and Theil, Stephan (2011) Investigation of the Attitude Error Vector Reference Frame in the INS EKF. In: Advances in Aerospace Guidance, Navigation and Control Springer-Verlag Berlin Heidelberg. pp. 345-358. ISBN 978-3-642-19816-8.



The Extended Kalman Filter is used extensively for inertial navigation. If initial attitude errors are small, many authors choose to represent the attitude states as a vector of small angles in the vehicle body frame. Some authors choose to represent this vector in the navigation frame instead, but the corresponding reduction of filter performance in the closed loop filter is not discussed. Performance is regained when switching to an open loop filter, but closed loop filters are widely desired. This paper investigates this performance reduction. To show the effect,Monte Carlo simulation results are shown for several cases with a simplified inertial navigation problem using a closed and open loop filter and attitude states in the body and inertial frames. A qualitative argument is given to explain the effects, which stem from a state propagation model that poorly reflects the true system model for this case. A method is proposed to regain performance by using an estimated inertial frame for the attitude states. This method is only beneficial when the attitude states are measured indirectly via the velocity state equation. Results with this new frame are shown and discussed.

Item URL in elib:https://elib.dlr.de/75040/
Document Type:Contribution to a Collection
Title:Investigation of the Attitude Error Vector Reference Frame in the INS EKF
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Steffes, Stephen R.stephen.steffes (at) dlr.deUNSPECIFIED
Steinbach, Jan Philippjan.steinbach (at) hsuhh.deUNSPECIFIED
Theil, Stephanstephan.theil (at) dlr.deUNSPECIFIED
Journal or Publication Title:Advances in Aerospace Guidance, Navigation and Control
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 345-358
EditorsEmailEditor's ORCID iD
Holzapfel, Florianflorian.holzapfel@tum.deUNSPECIFIED
Theil, Stephanstephan.theil@dlr.deUNSPECIFIED
Publisher:Springer-Verlag Berlin Heidelberg
Keywords:extended kalman filter, error state vector, reference frame
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Transportation
DLR - Research area:Raumfahrt
DLR - Program:R RP - Space Transportation
DLR - Research theme (Project):R - SHEFEX Programm (old)
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Regelungs- und Datensysteme
Deposited By: Steffes, Stephen
Deposited On:16 Feb 2012 09:42
Last Modified:31 Jul 2019 19:35

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