# High-accuracy Vision-Based Attitude Estimation System for Air-Bearing Spacecraft Simulators

arXiv: https://arxiv.org/abs/2312.08146 · HTML: https://mlsanity.com/paper/2312.08146/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 38 references that are in the map.
- First posted on arXiv 13 Dec 2023.

## Builds on (most cited first, 1 of 1)

- [Quaternion kinematics for the error-state Kalman filter](https://mlsanity.com/paper/1711.02508/) (2017)

## Abstract (arXiv)

Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel and versatile method to compute the attitude of rotational air-bearing platforms using a monocular camera and sets of fiducial markers. The work proposes a geometry-based iterative algorithm that is significantly more accurate than other literature methods that involve the solution of the Perspective-n-Point problem. Additionally, auto-calibration procedures to perform a preliminary estimation of the system parameters are shown. The developed methodology is deployed onto a Raspberry Pi 4 micro-computer and tested with a set of LED markers. Data obtained with this setup are compared against computer simulations of the same system to understand and validate the attitude estimation performances. Simulation results show expected 1-sigma accuracies in the order of ~ 12 arcsec and ~ 37 arcsec for about- and cross-boresight rotations of the platform, and average latency times of 6 ms.