Welcome to Error State MEKF’s documentation!

This package implements an error state multiplicative extended Kalman filter (MEKF) for spacecraft attitude and gyro bias estimation.

Contents:

• Installation
  • Barebones Installation
• Usage
  • Basic Usage
  • Parameters
• API Reference
  • MEKF Class
  • Core Functions
• Theory
  • Notation
  • State and Error Representation
  • Quaternion math
  • Initialization
  • Ground truth update
  • Estimate propagation (gyro measurements)
  • Linearized Error-State Propagation
  • Process Noise Discretization
  • Star tracker measurement synthesis
  • Measurement update and injection

Indices and tables

• Index

• Module Index

• Search Page