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pathfinder-for-autonomous-navigation / psim

Six DOF flight simulator and related GNC implementations.
MIT License
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Adjust Attitude Estimator Sun Vector Error Representation #229

Closed kylekrol closed 3 years ago

kylekrol commented 4 years ago

Currently, we define our expected sun vector distribution as a spherical coordinate representation plus or minus a predetermined uncertainty in phi and theta. While the sun vector is around the equator this is alright as a given step in phi or theta traverse a similar distance on the unit sphere. If the expected sun vector, however, is near a pole (plus or minus z), this representation is no longer consistent.

We need to define a local error distribution around the expected sun vector for this to work more consistently.

shihaocao commented 3 years ago

image

shihaocao commented 3 years ago

image

shihaocao commented 3 years ago

First time scale was on the order of day : hours : mins