• Korean Journal of Remote Sensing
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• v.25 no.2
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• pp.133-143
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• 2009

This paper describes differences of performance when the orbit attitude model is applied to the respective images obtained from two different types of satellite. The one is Spot that rotates its pointing mirror and the other is Kompsat-2 that rotates its whole body when they obtain imagery for target. Our research scope is limited to the orbit-attitude model only as its good performance was proved in prior investigation. Model performances between two images were compared with sensor model accuracy and 3D coordinates calculation. The results show performances of the orbit-attitude model for each image type were different. For Spot imagery, the model required attitude angle to be included as adjustment parameters. For Kompsat-2 imagery, the model required high-order parameter for adjustment. This implies that satellite sensor model may be applied differently in accordance with platform's attitude control scheme and accuracy. Understanding of this information can be a base for improvement and development of model and application for new satellite images.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.217-220
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• 2005

Currently, a number of control points are required in order to achieve accurate geolocation of satellite images. Control points can be generated from existing maps or surveying, or, preferably, from GPS measurements. The requirement of control points increase the cost of satellite mapping, let alone it makes the mapping over inaccessible areas troublesome. This paper investigates the possibilities of modeling an entire imaging strip with control points obtained from a small portion of the strip. We tested physical sensor models that were based on satellite orbit and attitude angles. It was anticipated that orbit modeling needed a sensor model with good accuracy of exterior orientation estimation, rather then the accuracy of bundle adjustment. We implemented sensor models with various parameter sets and checked their accuracy when applied to the scenes on the same orbital strip together with the bundle adjustment accuracy and the accuracy of estimated exterior orientation parameters. Results showed that although the models with good bundle adjustments accuracy did not always good orbit modeling and that the models with simple unknowns could be used for orbit modeling.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.1
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• pp.47-55
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• 2006

This paper investigates the performance of sensor models based on satellite position and rotation angles and sensor models based on satellite orbit and attitude angles. We analyze the performance with respect to the accuracy of bundle adjustment and the accuracy of exterior orientation estimation. In particular, as one way to analyze the latter, we establish sensor models with respect to one image and apply the models to other scenes that have been acquired from the same orbit. Experiment results indicated that fer the sole purpose of bundle adjustment accuracy one could use both position-rotation models and orbit-attitude models. The accuracy of estimating exterior orientation parameters appeared similar for both models when analysis was performed based on single scene. However, when multiple scenes within the same orbital segment were used for analysis, the orbit-attitude model with attitude biases as unknowns showed the most accurate results.

• Aerospace Engineering and Technology
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• v.13 no.1
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• pp.27-36
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• 2014

Generally, satellites continuously monitor that its major functions are working properly and their hardware are in a good status using several SOH data. In case a fault that is not recognized as a temporal problem or a failure that can be considered to propagate its damage to the other parts are detected, fault management logic is performed automatically without any contact of ground station. In this paper, attitude error detection using sun sensors on a rotating solar array is proposed. Attitude error can be detected by comparing the offset angle between the actual data computed from the sun sensor and the data predicted from the orbit and ephemeris information for the two types of solar array operation method. During the eclipse, the output of attitude error detection method becomes zero because the sun sensor output cannot be provided. Finally, the proposed method is analyzed through the data processing using on-orbit data.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.517-526
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• 2015

This paper presents the results of study for improving the reliability of quadrotor attitude control by applying a multi-sensor along with a data fusion algorithm. First, a mathematical model of the quadrotor dynamics was developed. Then, using the quadrotor mathematical model, simulations were performed using the improved reliability multi-sensor data as the inputs. From the simulation results, we designed a Gimbal-equipped quadrotor system. With the quadrotor in a hover state, we performed experiments according to the angle change of the user's specifications. We then calculated the attitude control data from the actual experimental data. Furthermore, with additional simulations, we verified the performance of the designed quadrotor attitude control system with multiple sensors.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.3
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• pp.107-111
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• 2021

A 3D point cloud map is an essential elements in various fields, including precise autonomous navigation system. However, generating a 3D point cloud map using a single sensor has limitations due to the price of expensive sensor. In order to solve this problem, we propose a precise 3D mapping system using low-cost sensor fusion. Generating a point cloud map requires the process of estimating the current position and attitude, and describing the surrounding environment. In this paper, we utilized a commercial visual-inertial odometry sensor to estimate the current position and attitude states. Based on the state value, the 2D LiDAR measurement values describe the surrounding environment to create a point cloud map. To analyze the performance of the proposed algorithm, we compared the performance of the proposed algorithm and the 3D LiDAR-based SLAM (simultaneous localization and mapping) algorithm. As a result, it was confirmed that a precise 3D point cloud map can be generated with the low-cost sensor fusion system proposed in this paper.

• Korean Journal of Remote Sensing
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• v.25 no.3
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• pp.205-214
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• 2009

This paper investigates stereo 3D viewing for linear pushbroom satellite images using the Orbit-Attitude Model proposed by Kim (2006) and using OpenGL graphic library in Digital Photogrammetry Workstation. 3D viewing is tested with KOMPSAT-2 satellite stereo images, a large number of GCPs (Ground control points) collected by GPS surveying and orbit-attitude sensor model as a rigorous sensor model. Comparison is carried out by two accuracy measurements: the accuracy of orbit-attitude modeling with bundle adjustment and accuracy analysis of errors in x and y parallaxes. This research result will help to understand the nature of 3D objects for high resolution satellite images, and we will be able to measure accurate 3D object space coordinates in virtual or real 3D environment.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.24-36
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• 2011

A new approach for spacecraft absolute attitude estimation based on the unscented Kalman filter (UKF) is extended to relative attitude estimation and navigation. This approach for nonlinear systems has faster convergence than the approach based on the standard extended Kalman filter (EKF) even with inaccurate initial conditions in attitude estimation and navigation problems. The filter formulation employs measurements obtained from a vision sensor to provide multiple line(-) of(-) sight vectors from the spacecraft to another spacecraft. The line-of-sight measurements are coupled with gyro measurements and dynamic models in an UKF to determine relative attitude, position and gyro biases. A vector of generalized Rodrigues parameters is used to represent the local error-quaternion between two spacecraft. A multiplicative quaternion-error approach is derived from the local error-quaternion, which guarantees the maintenance of quaternion unit constraint in the filter. The scenario for bounded relative motion is selected to verify this extended application of the UKF. Simulation results show that the UKF is more robust than the EKF under realistic initial attitude and navigation error conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.238-242
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• 1994

Shuster's algorithm for spin-axis determination is extended to include sensor bias and mounting angle as its solve-for parameters. The relation between direct and derived measurements bias is obtained by linearizing their kinematic equations. A one-step least-square estimation technique referred to as the 'closed form' solution is used, and the solution provides a more refined and decent initial guess for the subsequent filtering process contained within the differential correction module. The modified algorithm is applied for attitude determination of a GEO communication satellite in transfer orbit, and its results are presented.