Aerospace Control Systems

Spacecraft GNC Systems Engineering

RADICAL RIMU Attitude Determination/Calibration Filter - Features PDF Print E-mail
Article Index
RADICAL RIMU Attitude Determination/Calibration Filter
Software Components
Advanced Capabilities
Filter States
Further Reading
All Pages


The RADICAL filter has many features that address common requirements, plus many advanced features for enhanced functionality, performance, and reliability. The following is a partial list of features.

  • Efficient, modular software in C
  • Default and active parameter tables
  • Initialization with cold or warm start
  • Processing of disjoint telemetry segments (i.e., with long gaps)
  • Data buffering and time synchronization
  • UD factorized covariance for numerical stability and accuracy
  • Parity measurement update for full observability of RIMU calibration parameters
  • Advanced measurement error models for optimal measurement updates
  • Fault detection and performance monitoring functions
  • Command interface and direct access to public functions (host-to-filter interface)
  • Command interpreter for desktop analysis and design, and for automated ground-based processing
  • Telemetry data output in a choice of three different sized packets (customizable)
  • Summary output upon reaching the end of a telemetry file
  • Diagnostic output data
  • Filter state checkpoint written, upon command, to a file or sent as a data packet
  • Matlab support software for generating simulated sensor data and for graphing filter output

These features are described in more detail on the following sections.