Abstract: In the normal operation conditions of a pico satellite,
conventional Unscented Kalman Filter (UKF) gives sufficiently good
estimation results. However, if the measurements are not reliable
because of any kind of malfunction in the estimation system, UKF
gives inaccurate results and diverges by time. This study, introduces
Robust Unscented Kalman Filter (RUKF) algorithms with the filter
gain correction for the case of measurement malfunctions. By the use
of defined variables named as measurement noise scale factor, the
faulty measurements are taken into the consideration with a small
weight and the estimations are corrected without affecting the
characteristic of the accurate ones. Two different RUKF algorithms,
one with single scale factor and one with multiple scale factors, are
proposed and applied for the attitude estimation process of a pico
satellite. The results of these algorithms are compared for different
types of measurement faults in different estimation scenarios and
recommendations about their applications are given.