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qekf

Prototype q-method extended Kalman filter

Description

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.

Note about validation/testing status

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.

Requirements

  • Python 3.x
  • Numpy
  • SciPy
  • Matplotlib
  • pyquat

Installation

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.

Usage

Unit tests can be run using

python3 setup.py test

The flatsat simulation is run using

python3 sim_flatsat.py

Developers

If you find a bug or wish to make a contribution, use the project's github issue tracker.

License

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.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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