Increasing the computational efficiency of attitude estimation is a critical problem related to modern spacecraft, especially for\nthose with limited computing resources. In this paper, a computationally efficient nonlinear attitude estimation strategy based\non the vector observations is proposed.The Rodrigues parameter is chosen as the local error attitude parameter, to maintain the\nnormalization constraint for the quaternion in the global estimator. The proposed attitude estimator is performed in four stages.\nFirst, the local attitude estimation error system is described by a polytopic linear model. Then the local error attitude estimator\nis designed with constant coefficients based on the robust H2 filtering algorithm. Subsequently, the attitude predictions and the\nlocal error attitude estimations are calculated by a gyro based model and the local error attitude estimator. Finally, the attitude\nestimations are updated by the predicted attitude with the local error attitude estimations. Since the local error attitude estimator is\nwith constant coefficients, it does not need to calculate thematrix inversion for the filter gain matrix or update the Jacobianmatrixes\nonline to obtain the local error attitude estimations. As a result, the computational complexity of the proposed attitude estimator\nreduces significantly. Simulation results demonstrate the efficiency of the proposed attitude estimation strategy.
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