Poor stability and low tracking accuracy are significant issues in existing algorithms for satellite attitude determination. An adaptive unscented Kalman filter (AUKF) algorithm was proposed to overcome these issues and estimate the three-axis attitude of satellite by modeling error and external disturbance. First, the working principle of attitude determination based on gyro sensor was analyzed, following which the satellite attitude kinematics equation, with error quaternion as state variable, was derived. An adaptive matrix was introduced to adjust the measurement noise covariance matrix. Based on the filtering divergence criterion, the system noise covariance matrix was adaptively modified to suppress potential divergence in the filtering process, and a good adaptive performance was obtained. Finally, it is demonstrated through experimental verification that, compared with robust AUKF algorithm, the accuracy of three-axis estimation (RMSE) of AUKF improves by 30.0%, 34.1%, and 22.4%, respectively, when the parameter estimation is not accurate. Thus, the algorithm meets the requirements of high precision and strong robustness for satellite attitude determination.
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