Analysis on Euler Angles Rotation of a Rigid Body in Three-Axis Attitude Based on RazakSAT Data

Abstract

Satellite attitude estimation uses different attitude representation either Euler angles, direction cosine matrix, Gibbs vector or quaternion parameters as their kinematic model. The three-axis attitude parameter using quaternion parameter is mostly used to represents the attitude of satellites. As well as in RazakSAT satellite mission, the attitude data is represented by quaternions parameters. However, the quaternions parameters do not have a physical interpretation for the attitude of the satellite. Therefore, quaternion parameters of the satellite are converted to Euler angles rotation for the physical interpretation of its orientation. This paper present and analyse the satellite three-axis Euler angles rotation for its attitude using average rotation, maximum/minimum error and standard deviation. The result shows that the quaternions parameters are successfully represented in Euler angels. The error measurement or noise exists on roll, pitch and yaw of Euler angles. For verification of the Euler angles error, the angular velocity from satellite gyroscopes is used as references. Residual analysis at low frequency is 0.00515 [degree/ second] which considered as Euler angles measurement error or noise.