| In this paper a method of estimating the yaw, pitch, and roll of the satellite dish is derived. The measurements available are 3 axis accelerometers, 3 axis gyroscopes, and 3 different signal strength measurements at 3 different angles. Once the yaw, pitch, and roll states are estimated using an Extended Kalman Filter (EKF), a state feedback controller for the 3 degrees of freedom is designed.;The system achieves a precision of +/-0.5 degrees in the elevation direction, but fails to achieve this level of precision in azimuth. However, there are improvements that could reasonably be made to the system and it may perform better in the field due to more precise antennae. |
