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E-raamat: Fundamentals of Spacecraft Attitude Determination and Control

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  • Formaat: EPUB+DRM
  • Sari: Space Technology Library 33
  • Ilmumisaeg: 31-May-2014
  • Kirjastus: Springer-Verlag New York Inc.
  • Keel: eng
  • ISBN-13: 9781493908028
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Fundamentals of Spacecraft Attitude Determination and ControlSuurem pilt
  • Formaat: EPUB+DRM
  • Sari: Space Technology Library 33
  • Ilmumisaeg: 31-May-2014
  • Kirjastus: Springer-Verlag New York Inc.
  • Keel: eng
  • ISBN-13: 9781493908028
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This book explores topics that are central to the field of spacecraft attitude determination and control. The authors provide rigorous theoretical derivations of significant algorithms accompanied by a generous amount of qualitative discussions of the subject matter. The book documents the development of the important concepts and methods in a manner accessible to practicing engineers, graduate-level engineering students and applied mathematicians. It includes detailed examples from actual mission designs to help ease the transition from theory to practice and also provides prototype algorithms that are readily available on the author’s website.

Subject matter includes both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It provides detailed derivations for attitude kinematics and dynamics and provides detailed description of the most widely used attitude parameterization, the quaternion. This title also provides a thorough treatise of attitude dynamics including Jacobian elliptical functions. It is the first known book to provide detailed derivations and explanations of state attitude determination and gives readers real-world examples from actual working spacecraft missions. The subject matter is chosen to fill the void of existing textbooks and treatises, especially in state and dynamics attitude determination. MATLAB code of all examples will be provided through an external website.



This book explores both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It features real-world examples from actual working spacecraft missions.

Arvustused

The present book presents the fundamental concepts and mathematical basis for spacecraft attitude description and control. Every chapter and appendix contains a rich references. After reading this book, the reader will be convinced that the intended audience for it consists of graduate students, Ph.D. students and scientists with an interest in spacecraft attitude determination and control. (Clementina Mladenova, zbMATH 1381.70006, 2018)



It is of exceptional quality in both the range of subjects covered and the detail of that coverage. this book has a lot to offer to those of us involved in the developments and data processing for such projects, describing in detail external forces as well as the effects of non-rigidity. this is a very worthwhile volume, highly recommended for anyone involved in astronomical or other satellite projects. (Floor van Leeuwen, The Observatory, Vol. 135 (1246), June, 2015)

This is an excellent book. Markley and Crassidis (Univ. of Buffalo) have succeeded in creating a work that is a good textbook for both upper-level undergraduate and graduate students as well as practitioners. book ends with several appendixes that further support the rest of the book and also provide novice practitioners with a good resource to help them understand the more technical and complicated material. Summing Up: Highly recommended. Aerospace engineering collections serving upper-division undergraduates through professionals/practitioners. (D. B. Spencer, Choice, Vol. 52 (7), March, 2015)

1 Introduction
1(16)
References
15(2)
2 Matrices, Vectors, Frames, Transforms
17(50)
2.1 Matrices
17(4)
2.2 Vectors
21(1)
2.3 Jacobian, Gradient, and Hessian
22(2)
2.4 Orthonormal Bases, Change of Basis
24(4)
2.5 Vectors in Three Dimensions
28(3)
2.6 Some Useful Reference Frames
31(6)
2.6.1 Spacecraft Body Frame
31(1)
2.6.2 Inertial Reference Frames
31(1)
2.6.3 Earth-Centered/Earth-Fixed Frame
32(4)
2.6.4 Local-Vertical/Local-Horizontal Frame
36(1)
2.7 Quaternions
37(3)
2.8 Rotations and Euler's Theorem
40(1)
2.9 Attitude Representations
41(18)
2.9.1 Euler Axis/Angle Representation
41(3)
2.9.2 Rotation Vector Representation
44(1)
2.9.3 Quaternion Representation
45(3)
2.9.4 Rodrigues Parameter Representation
48(2)
2.9.5 Modified Rodrigues Parameters
50(2)
2.9.6 Euler Angles
52(7)
2.10 Attitude Error Representations
59(8)
References
64(3)
3 Attitude Kinematics and Dynamics
67(56)
3.1 Attitude Kinematics
68(3)
3.1.1 Attitude Matrix
68(1)
3.1.2 Vector Addition of Angular Velocity
69(1)
3.1.3 Vector Kinematics
70(1)
3.2 Kinematics of Attitude Parameterizations
71(6)
3.2.1 Quaternion Kinematics
71(1)
3.2.2 Rodrigues Parameter Kinematics
72(1)
3.2.3 Modified Rodrigues Parameter Kinematics
72(1)
3.2.4 Rotation Vector Kinematics
72(1)
3.2.5 Euler Angle Kinematics
73(3)
3.2.6 Attitude Error Kinematics
76(1)
3.3 Attitude Dynamics
77(46)
3.3.1 Angular Momentum and Kinetic Energy
77(3)
3.3.2 Rigid Body Dynamics
80(4)
3.3.3 Rigid Body Motion
84(6)
3.3.4 Torque-Free Motion of a Rigid Body
90(9)
3.3.5 Internal Torques
99(4)
3.3.6 External Torques
103(8)
3.3.7 Angular Momentum for Health Monitoring
111(1)
3.3.8 Dynamics of Earth-Pointing Spacecraft
112(9)
References
121(2)
4 Sensors and Actuators
123(60)
4.1 Redundancy
123(2)
4.2 Star Trackers
125(8)
4.2.1 Overview
125(1)
4.2.2 Modes of Operation
126(1)
4.2.3 Field of View, Resolution, Update Rate
127(2)
4.2.4 Star Catalogs
129(1)
4.2.5 Proper Motion, Parallax, and Aberration
130(3)
4.3 Sun Sensors
133(2)
4.4 Horizon Sensors
135(1)
4.5 Magnetometers
135(1)
4.6 Global Positioning System
136(4)
4.6.1 GPS Satellites
138(2)
4.7 Gyroscopes
140(7)
4.7.1 Gyro Measurement Model
143(4)
4.8 Reaction Wheels
147(19)
4.8.1 Reaction Wheel Characteristics
148(1)
4.8.2 Reaction Wheel Disturbances
148(4)
4.8.3 Redundant Wheel Configurations
152(14)
4.9 Control Moment Gyros
166(2)
4.10 Magnetic Torquers
168(1)
4.11 Thrusters
169(1)
4.12 Nutation Dampers
170(13)
References
178(5)
5 Static Attitude Determination Methods
183(52)
5.1 The TRIAD Algorithm
184(2)
5.2 Wahba's Problem
186(1)
5.3 Quaternion Solutions of Wahba's Problem
187(9)
5.3.1 Davenport's Q Method
187(2)
5.3.2 Quaternion Estimator (QUEST)
189(2)
5.3.3 Another View of QUEST
191(1)
5.3.4 Method of Sequential Rotations
192(2)
5.3.5 Estimator of the Optimal Quaternion (ESOQ)
194(1)
5.3.6 Second Estimator of the Optimal Quaternion (ESOQ2)
195(1)
5.4 Matrix Solutions of Wahba's Problem
196(5)
5.4.1 Singular Value Decomposition (SVD) Method
196(2)
5.4.2 Fast Optimal Attitude Matrix (FOAM)
198(1)
5.4.3 Wahba's Problem with Two Observations
199(2)
5.5 Error Analysis of Wahba's Problem
201(7)
5.5.1 Attitude Error Vector
201(3)
5.5.2 Covariance Analysis of Wahba's Problem
204(3)
5.5.3 Covariance with Two Observations
207(1)
5.6 MLE for Attitude Determination
208(8)
5.6.1 Fisher Information Matrix for Attitude Determination
212(4)
5.7 Induced Attitude Errors from Orbit Errors
216(2)
5.8 TRMM Attitude Determination
218(5)
5.9 GPS Attitude Determination
223(12)
References
231(4)
6 Filtering for Attitude Estimation and Calibration
235(52)
6.1 Attitude Representations for Kalman Filtering
236(4)
6.1.1 Three-Component Representations
236(1)
6.1.2 Additive Quaternion Representation
237(2)
6.1.3 Multiplicative Quaternion Representation
239(1)
6.2 Attitude Estimation
240(23)
6.2.1 Kalman Filter Formulation
240(6)
6.2.2 Gyro Calibration Kalman Smoother
246(8)
6.2.3 Filtering and the QUEST Measurement Model
254(3)
6.2.4 Mission Mode Kalman Filter
257(3)
6.2.5 Murrell's Version
260(3)
6.3 Farrenkopf's Steady-State Analysis
263(6)
6.4 Magnetometer Calibration
269(18)
6.4.1 Measurement Model
270(2)
6.4.2 Centered Solution
272(2)
6.4.3 The TWOSTEP Algorithm
274(2)
6.4.4 Extended Kalman Filter Approach
276(1)
6.4.5 TRACE Spacecraft Results
277(6)
References
283(4)
7 Attitude Control
287(58)
7.1 Introduction
287(2)
7.2 Attitude Control: Regulation Case
289(5)
7.3 Attitude Control: Tracking Case
294(9)
7.3.1 Alternative Formulation
301(2)
7.4 Attitude Thruster Control
303(4)
7.5 Magnetic Torque Attitude Control
307(5)
7.5.1 Detumbling
308(3)
7.5.2 Momentum Dumping
311(1)
7.6 Effects of Noise
312(6)
7.7 SAMPEX Control Design
318(27)
7.7.1 Attitude Determination
321(3)
7.7.2 Magnetic Torque Control Law
324(1)
7.7.3 Science Modes
324(8)
7.7.4 Reaction Wheel Control Law
332(1)
7.7.5 Simulations
333(8)
References
341(4)
A Quaternion Identities
345(16)
A.1 Cross Product Identities
345(1)
A.2 Basic Quaternion Identities
346(3)
A.3 The Matrices Ξ(q), Ψ(q), Ω(ω), and Γ(ω)
349(1)
A.4 Identities Involving the Attitude Matrix
350(4)
A.5 Error Quaternions
354(1)
A.6 Quaternion Kinematics
355(6)
References
359(2)
B Euler Angles
361(4)
C Orbital Dynamics
365(38)
C.1 Geometry of Ellipses
365(5)
C.2 Keplerian Motion
370(12)
C.2.1 Classical Orbital Elements
374(2)
C.2.2 Kepler's Equation
376(3)
C.2.3 Orbit Propagation
379(3)
C.3 Disturbing Forces
382(10)
C.3.1 Non-Spherical Gravity
382(6)
C.3.2 Third-Body Forces
388(1)
C.3.3 Atmospheric Drag
389(1)
C.3.4 Solar Radiation Pressure
390(2)
C.4 Perturbation Methods
392(6)
C.4.1 Variation of Parameters
392(1)
C.4.2 Two Line Elements
393(2)
C.4.3 A Useful Approximation, Secular J2 Effects Only
395(2)
C.4.4 Sun-Synchronous Orbits
397(1)
C.5 Lagrange Points
398(5)
References
402(1)
D Environment Models
403(22)
D.1 Magnetic Field Models
403(3)
D.1.1 Dipole Model
404(2)
D.2 Atmospheric Density
406(14)
D.2.1 Exponentially Decaying Model Atmosphere
406(1)
D.2.2 Harris-Priester Model Atmosphere
407(1)
D.2.3 Jacchia and GOST Model Atmospheres
408(1)
D.2.4 Jacchia-Bowman 2008 (JB2008) Model Atmosphere
409(11)
D.3 Sun Position, Radiation Pressure, and Eclipse Conditions
420(2)
D.4 Orbital Ephemerides of the Sun, Moon, and Planets
422(3)
References
423(2)
E Review of Control and Estimation Theory
425(50)
E.1 System Modeling
425(12)
E.1.1 Inverted Pendulum Modeling
425(3)
E.1.2 State and Observation Models
428(6)
E.1.3 Discrete-Time Systems
434(3)
E.2 Control Theory
437(11)
E.2.1 Basic Linear Control Design
437(5)
E.2.2 Stability of Nonlinear Dynamic Systems
442(2)
E.2.3 Sliding-Mode Control
444(4)
E.3 Estimation Theory
448(27)
E.3.1 Static-Based and Filter-Based Estimation
449(2)
E.3.2 Batch Least Squares Estimation
451(2)
E.3.3 Sequential Least Squares Estimation
453(1)
E.3.4 Maximum Likelihood Estimation
454(2)
E.3.5 Nonlinear Least Squares
456(6)
E.3.6 Advantages and Disadvantages
462(1)
E.3.7 State Estimation Techniques
462(8)
E.3.8 Linear Covariance Analysis
470(1)
E.3.9 Separation Theorem
470(3)
References
473(2)
F Computer Software
475(2)
Index 477
Dr. F. Landis Markley has been a leader in spacecraft attitude estimation as well as one of the most important mission engineers. He joined the Computer Sciences Corporation in 1974 and established himself as an expert on all aspects of spacecraft attitude mission support. He moved to the U. S. Naval Research Laboratory in 1978 and to NASA Goddard Space Flight Center in 1985. Since 2010, he has been Aerospace Engineer Emeritus in Goddard's Attitude Control Systems Engineering Branch. He has supported more than twenty space missions, most notably the Hubble Space Telescope, the Tropical Rainfall Measuring Mission and the Wilkinson Microwave Anisotropy Probe. Dr. Markley is the author of many classic papers in spacecraft attitude estimation, dynamics, and control. He was one of the principal contributors to the book Spacecraft Attitude Determination and Control (Springer, 1978), which has been essential to the education of many astronautical engineers. He was elected Fellow of the AIAA in 1998 and of the AAS in 2007 and has been a Goddard Senior Fellow since 2000. He is a recipient of the NASA Exceptional Service Medal (1994 and 2005), the AIAA Mechanics and Control of Flight Award (1998), and the AAS Dirk Brouwer Award (2005).

Dr. John L. Crassidis is the CUBRC Professor in Space Situational Awareness of Mechanical and Aerospace Engineering at the University of Buffalo (UB). Currently, he is the Director of UB's Center for Multisource Information Fusion. Before joining UB in 2001, he held previous academic appointments at Catholic University of America (1996-1998) and Texas A&M University (1998-2000). He also held a position as a NASA Postdoctoral Research Fellow at Goddard Space Flight Center (1996-1998). While at NASA-Goddard he worked on a number of mission projects, such as the Tropical Rainfall Measurement Mission, the Geostationary Operational Environmental Satellite, and the Wilkinson Microwave Anisotropy Probe. He is first author tothe book Optimal Estimation of Dynamic Systems, which is currently in its second edition. He was elected Fellow of the AAS in 2014 and Associate Fellow of the AIAA in 2002. He is a recipient of the AIAA Mechanics and Control of Flight Award (2012) and several teaching awards. 
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