Oral Presentation Only

Effect of Pendulation on an SO(3)-Based Attitude Estimator for Precision Pointing of an Atmospheric Balloon-Borne Platform

Authors: David Evan Zlotnik (McGill University) , James Richard Forbes (McGill University)

Abstract

Attitude estimation of a balloon-borne platform is considered. Specifically, the effects of pendulation on an SO(3)-based attitude estimator is investigated. The balloon platform is modeled as a rigid-body hanging from a three-dimensional pendulum representing a tether. The SO(3)-based estimator is implemented and the acceleration due to oscillation is included in the accelerometer measurements. Four simulations are conducted that demonstrate the effects of oscillation on the estimator. It is shown that the estimation error due to oscillation can be mitigated by reducing the estimator gain associated with the accelerometer.

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How to Cite: Zlotnik, D. E. & Forbes, J. R. (2014) “Effect of Pendulation on an SO(3)-Based Attitude Estimator for Precision Pointing of an Atmospheric Balloon-Borne Platform”, Academic High Altitude Conference. 2014(1). doi: https://doi.org//ahac.8159