TY - JFULL AU - Halil Ersin Soken and Chingiz Hajiyev PY - 2010/9/ TI - Robust UKF Insensitive to Measurement Faults for Pico Satellite Attitude Estimation T2 - International Journal of Aerospace and Mechanical Engineering SP - 706 EP - 712 VL - 4 SN - 1307-6892 UR - https://publications.waset.org/pdf/4329 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 44, 2010 N2 - In the normal operation conditions of a pico satellite, conventional Unscented Kalman Filter (UKF) gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, UKF gives inaccurate results and diverges by time. This study, introduces Robust Unscented Kalman Filter (RUKF) algorithms with the filter gain correction for the case of measurement malfunctions. By the use of defined variables named as measurement noise scale factor, the faulty measurements are taken into the consideration with a small weight and the estimations are corrected without affecting the characteristic of the accurate ones. Two different RUKF algorithms, one with single scale factor and one with multiple scale factors, are proposed and applied for the attitude estimation process of a pico satellite. The results of these algorithms are compared for different types of measurement faults in different estimation scenarios and recommendations about their applications are given. ER -