The method of Haar sums for numerical solution of kinematic Poisson equations system that determine an evolution of a spacecraft position

In the present paper the method for the numerical solution of Poisson kinematic equations system that determine the evolution of the spacecraft position is proposed. The system of Poisson kinematic equations is used to determine the transition matrix from the coordinate system associated with the spacecraft at the selected time t1 to the coordinate system associated with the spacecraft at the current time t2. This matrix is used in the process of solving problems of determining a three-axis orientation of the spacecraft from the readings of the magnetometer using information about its angular velocities. The proposed method is based on replacing the derivatives of the desired functions in the Poisson kinematic equations by partial sums of series in the scaled Haar system. The partial sums of these series are generalized polynomials in the scaled Haar system. Hence these sums are step (piecewise constant) functions. The estimates of the proposed method error are derived, which reveal that in the case of the coefficients of the equations which are functions matching the Lipschitz condition, the absolute error in calculating each of the elements of the transition matrix from one coordinate system to another is the value O(N-1) at N ® ¥, where N is the number of partitions of the segment [t1, t2] when constructing a grid of nodes involved in this method. It is proved that the complexity of constructing an algorithm for approximating the system of Poisson kinematic properties insignificantly exceeds the complexity of solving this system by Euler method, which has the first order of accuracy. The results of numerical experiments are presented, showing that in certain cases the Haar sums method gives an error that is much smaller than the Euler method, and is almost identical to the errors of the Euler - Cauchy and Runge - Kutta methods of the 2nd order, the complexity of which is approximately two times greater than the complexity of the Haar sums method.