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This paper aims to propose a constant-gain Kalman Filter algorithm based on the projection method and constant dimension projection, which ensures that the dimension of the observation matrix obtained is maintained when there is a satellite with multiple sensors.

First, a time-invariant observation matrix is determined with the projection method, which does not require the Jacobi matrix to be calculated. Second, the constant-gain matrix replaces the EKF (extended Kalman filter) gain matrix, which requires online computation, considerably improving the stability and real-time properties of the algorithm.

The simulation results indicate that compared to the EKF algorithm, the constant-gain Kalman filter algorithm has a considerably lower computational burden and improved real-time properties and stability without a significant loss of accuracy. The algorithm based on the constant dimension projection has better real-time properties, simpler computations and greater fault tolerance than the conventional EKF algorithm when handling an attitude determination system with three or more star trackers.

In satellite attitude determination systems, the constant-gain Kalman Filter algorithm based on the projection method reduces the large computational burden and improve the real-time properties of the EKF algorithm.