Attitude Determination using Asynchronous MultiSensor Fusion

CubeSat failures are a growing concern for amateur missions. Many of these failures stem from the chosen attitude determination algorithm. Hence, this thesis seeks to produce an attitude determination system standard for nanosatellites. The ESSENCE CubeSat is the primary focus of this study, as it is an amateur student led mission. The attitude sensors used in this thesis are low cost and affordable for most CubeSat missions. The thesis proves its functionality by examining various attitude determination techniques, orbit propagation and determination methods. Numerous tests and analysis for this thesis were done in a simulated environment along with a hardware in the loop experiment, to meet the objectives defined for this thesis. This thesis provides a thorough analysis under nominal and failure conditions. The outcome of the thesis produces an attitude algorithm is chosen as the standard for attitude determination for nanosatellites and is recommended for the ESSENCE mission.