This paper proposes high-accuracy and reliable attitude measurement methods exclusive for CubeSat with restrictions of low cost, limited space, and low power consumption. The attitude measurement unit is equipped with Commercial Off-The-Shelf (COTS) components including Micro-Electro-Mechanical System (MEMS) gyro and two simultaneously operating star trackers (STR) to enhance the measurement accuracy. The Multiplicative Extended Kalman Filter (MEKF) is used to estimate the attitude of CubeSat, and four kinds of attitude estimation layouts are put forward according to the idea of weighted average of two quaternions from two STR and different architectures of information fusion. Using the proposed methods, the attitude measurement unit can continuously provide accurate and reliable attitude knowledge for attitude control unit when the CubeSat is running in orbit. Numerical simulation is performed to verify the effectiveness of the proposed methods, and it offers a reference for CubeSat developers from the perspective of engineering application.

中文翻译：

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CubeSat的高精度，低成本姿态测量单元

本文提出了一种适用于CubeSat的高精度，可靠的姿态测量方法，该方法具有低成本，有限空间和低功耗的局限性。姿态测量单元配备了现成的商用（COTS）组件，包括微机电系统（MEMS）陀螺仪和两个同时工作的星形跟踪器（STR），以提高测量精度。利用可乘扩展卡尔曼滤波器（MEKF）估计CubeSat的姿态，并根据来自两个STR和不同信息融合体系结构的两个四元数的加权平均值的思想，提出了四种姿态估计布局。使用建议的方法，当CubeSat在轨道上运行时，姿态测量单元可以为姿态控制单元不断提供准确可靠的姿态知识。通过数值模拟验证了所提方法的有效性，并从工程应用的角度为CubeSat开发人员提供了参考。