Preface; Contents; Acronyms; 1 Attitude Conventions and Definitions; 1.1 Definition of the Inertial Reference Frame; 1.2 Defining Attitude via Euler Angles (Right Ascension, Declination, and Roll); 1.3 Defining Attitude via Euler Angles (Roll, Pitch, and Yaw); 1.4 Defining Attitude via the Direction Cosine Matrix; 1.5 Defining Attitude via the Eigenvector and Rotation Angle; 1.6 Defining Attitude via Quarternions; 1.7 Attitude Format Applications; 2 General Orbit Background; 2.1 Historical Perspective; 2.2 Orbital Shapes; 2.3 Specifying the Orbit's Orientation in Inertial Space

2.4 The Location of the Spacecraft in the Orbit2.5 Keplerian Element Types; 2.6 Orbit Perturbations
Oblate Earth; 2.7 Orbit Perturbations
Aerodynamic Drag; 2.8 Orbit Perturbations
Solar Radiation Pressure; 2.9 Orbit Perturbations
Orbit Maneuvers with Thrusters; 3 Angular Momentum and Torque; 3.1 Historical Digression; 3.2 Translational Motion; 3.3 Rotational Motion; 3.4 Motion of the Center of Mass Versus Motion About the Center of Mass; 3.5 How the Moment of Inertia Tensor Describes the Object's Nature; 3.6 Types of Torque-Free Rotational Motion

3.7 How Torques Can Influence an Object's Rotational Motion3.8 Attitude Control Torques; 3.9 Environmental Torques; 4 Attitude Measurement Sensors; 4.1 Sun Sensors; 4.2 Earth Sensors; 4.3 Magnetometers; 4.4 Star Sensors; 4.5 Gyros; 5 Attitude Actuators; 5.1 Reaction Wheels; 5.2 Magnetic Torquer Bars (MTBs); 5.3 Thrusters; 6 Reference Models; 6.1 Modeling the Earth's Gravitational Field; 6.2 Modeling the Spacecraft's Ephemeris; 6.3 Modeling Solar, Lunar, and Planetary Ephemerides; 6.4 Modeling the Geomagnetic Field; 6.5 Star Catalogs; 6.6 Velocity Aberration; 6.7 Parallax

6.8 Stellar Magnitude6.9 Star Catalog Examples; 7 Onboard Attitude Determination; 7.1 Attitude Propagation with Gyroscope Data; 7.2 Reference Attitude; 7.3 Minimum Data Attitude Determination; 7.4 Batch Attitude Determination with Vector Observations; 7.5 Attitude Uncertainty: The Covariance Matrix; 7.6 Combining Multiple Attitude Solutions; 7.7 Combining an Attitude Solution with a Vector Measurement; 7.8 Measurement Propagation and De-Weighting; 7.9 Recursive Attitude Estimation; 7.10 Recursive Attitude Plus Gyro Bias Estimation; 7.11 The Kalman Filter for Recursive Least Squares

7.12 Synopsis7.13 Mathematics to English Translation of Kalman Filtering; 8 Spacecraft State Estimation More Broadly; 8.1 Attitude-Related Least Squares Problems; 8.1.1 Star Tracker Relative Alignments; 8.1.2 Star Tracker Internal Calibrations; 8.1.3 Gyroscope Calibration; 8.1.4 Sun Sensor Calibration; 8.1.5 Magnetometer Calibration; 8.1.6 Wavefront Calibration; 8.2 General Issues; 8.2.1 Observability; 8.2.2 State Vector Selection; 8.2.3 Observation Model; 8.2.4 Least Squares Filters; 9 Onboard Orbit Computations; 9.1 CGRO Onboard Orbit Models; 9.2 HST Onboard Orbit Models