Hangzhou City University

Zhenbing Qiu

Yanjun Li

The invention relates to a weight and reference quaternion correction unscented quaternion estimation method, comprising: obtaining measurement data as quantity measurement through a gyro and a star sensor; establishing a quaternion-based discrete spacecraft nonlinear state space model; estimating an error quaternion, a gyro drift and a corresponding error covariance at a k moment by using an unscented quaternion estimator based on parameter and reference quaternion correction at a k−1 moment; and setting a filtering time as N, if k<N, then repeating the step 3, if k=N, then finishing filtering, and outputting the attitude quaternion, the gyro drift and the corresponding error covariance.

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Hangzhou, China

Zhenbing Qiu