Design and simulation of an attitude determination system based on the Extended Kalman Filter for Cube-Sat Colombia I


  • Cesar Alberto Castellanos García Universidad Distrital FJC
  • Lilia Edith Aparicio-Pico Universidad Distrital FJC


Attitude determination system, extended Kalman filter, non deterministic and deterministic algorithm, picosatellite Colombia I


The purpose of this document is to describe the design and simulation of an attitude determination system (ADS) for the CubeSat Colombia I picosatellite, based on an extended Kalman filter EKF [1,2]. In this development the propagation of the State of the system has been implemented through a Runge-Kutta procedure instead of traditional State Transition matrix method, improving predictions from the EKF filter without making direct measurements of angular velocity, it was obtained a reduced prediction time by incorporating a deterministic algorithm (the TRIAD algorithm) within the EKF. The results validated through simulation are those shown in this article.

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Author Biographies

Cesar Alberto Castellanos García, Universidad Distrital FJC

Grupo de investigación GITEM, Facultad de Ingeniería

Lilia Edith Aparicio-Pico, Universidad Distrital FJC

Facultad de Ingeniería


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How to Cite

Castellanos García, C. A., & Aparicio-Pico, L. E. (2014). Design and simulation of an attitude determination system based on the Extended Kalman Filter for Cube-Sat Colombia I. Revista Facultad De Ingeniería Universidad De Antioquia, (70), 146–154. Retrieved from