Prototype q-method extended Kalman filter
This is a prototype q-method extended Kalman filter based on work by Ainscough, Zanetti, Christian, and Spanos, that was intended for eventual use on an earth-orbiting cubesat, and perhaps ultimately in a lunar lander. It only includes two states: attitude and gyroscope bias.
This repository includes a simulation that validates the qEKF
implementation in a flatsat on a rotating planet. The simulation for a
tumbling spacecraft in orbit is in branch tumble_sim_wip and needs a
few more hours of work to be completed. Unfortunately, that work won't
be by Open Lunar's engineering team. If you want to pick up the work
where we left off, start there.
- Python 3.x
- Numpy
- SciPy
- Matplotlib
- pyquat
Clone this repository:
git clone https://github.com/openlunar/qekf.git
Currently, this tool cannot be installed as a package. You must run it out of the repository directory.
Unit tests can be run using
python3 setup.py test
The flatsat simulation is run using
python3 sim_flatsat.py
If you find a bug or wish to make a contribution, use the project's github issue tracker.
Copyright (c) 2020, John O. "Juno" Woods and Open Lunar Foundation. All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
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