粒子フィルタと最小平均二乗誤差法による軌道上浮遊物体の姿勢推定手法の実験的検証

抄録

To sustain space environment against the increase of the number of space debris, active removal of large debris is effective method. Attitude estimation of the floating target is one of the key technology for active removal mission. This paper presents experimental validation of attitude estimation with particle filter. In general particle filter method, estimated state values are obtained from the weighted average on the assumption that the state values are independent each other. However, attitude parameters such as quaternion are not independent each other. In this paper, Minimum Mean Square Error Approach (MMSE) is applied to estimate quaternion parameters. The proposed estimation method is verified by experiment.