Geometrical Attitude Determination Algorithm Based on Vector Measurements

Abstract

This paper addresses a novel vector-based attitude determination algorithm on the basis of geometrical configuration of external reference vectors. The proposed method called a geometrical attitude determination algorithm can be used for the attitude estimation of moving vehicles when two external reference vectors are partially measured on three orthogonal body axes. Applications of the new method range from the ground robotics navigation to satellite attitude control. Numerical simulations demonstrate that the algorithm can be reliably utilized for the three-axis attitude determination in the presence of inaccurately-measured reference vectors.