Path: SpacecraftEstimation/AttitudeEstimation
% Gyro Kalman Filter
The gyro model is built into the function.q
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Form:
d = GyroKalmanFilter; % To get the data structure
d = GyroKalmanFilter(qMeas,iMUAng,d)
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Inputs
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qMeas (4,1) Measured quaternion (ECI to Body)
iMUAng (3,1) IMU angles (rad)
d (.) Data structure
.p (6,6) Covariance matrix
.q (6,6) Plant covariance matrix
.iMUAngOld (3,1) Previous IMU angle (rad)
.r (3,3) Measurement matrix
.x (6,1) State estimate
.dT (1,1) Time step (s)
.qECIToBody (4,1) Estimated quaternion
.b (3,1) Estimated bias
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Outputs
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d (.) Data structure
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SpacecraftEstimation: AttitudeEstimation/EKFSSG SpacecraftEstimation: StellarAttDet/AttProp SpacecraftEstimation: StellarAttDet/DSTM Common: Quaternion/QFromDQ Common: Quaternion/QMult Common: Quaternion/QPose
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