Kalman Filtering for Relative Spacecraft Attitude and Position Estimation

Kim, Son-Goo; Cheng, Yang; Fosbury, Adam M.; Junkins, John L.

doi:10.2514/6.2005-6087

Cited by 37 publications

(32 citation statements)

References 15 publications

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“…Then, differentiating and expressing the error in rotation-vector form, the following is obtained [7]:…”

Section: Inertial Attitudementioning

confidence: 99%

“…It is common practice to develop navigation algorithms based on relative pose modeling, rather than inertial pose modeling. Spacecraft pose is conventionally represented by a position vector augmented by the attitude quaternion or matrix [7,8]. An in-depth development of a two-spacecraft relative navigation filter using the conventional pose model is presented in [7].…”

Section: Introductionmentioning

confidence: 99%

“…A navigation filter is developed using the conventional pose representation [7] (QVEKF) and tested under the same conditions for the sake of comparison. The simulations illustrate significant gains in the transients of the estimation errors when using the DQEKF.…”

Section: Introductionmentioning

confidence: 99%

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Relative Navigation in Asteroid Missions Using Dual Quaternion Filtering

Razgus

Mooij

Choukroun

2017

Journal of Guidance, Control, and Dynamics

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Ben-Gurion University of the Negev, POB 653, 84105, Beer Sheva, Israel This paper investigates the efficacy of dual quaternion filtering in the realm of asteroid missions. The main contribution is the development of a dual quaternion relative navigation filter applied to asteroid circumnavigation. The simulated target asteroid is Kleopatra, a dog-bone shaped asteroid featuring a low potential highly-perturbed gravity field. The spacecraft is equipped with a navigation camera and a laser ranger for position sensing, and a star tracker and rate gyroscope for attitude sensing. The paper innovates in the methods for landmarks identification within a camera field-of-view, true range and ranging errors determination, and spacecraft gravity-gradient torque modeling. For the sake of comparison, a navigation filter based on a conventional pose representation using Cartesian coordinates position and attitude quaternion is developed and tested under the same conditions. The dual quaternion filter succeeds in estimating the relative pose with high accuracy, as well as the gyroscope drift and the asteroid angular rates. The latter depends on the frequency and geometry of the landmarks lines-of-sight detected within the camera field-of-view. Significant gains in the transients of the estimation errors are achieved by the dual quaternion filter, when compared to the conventional filter. The errors feature similar steady-state levels in both filters.

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“…Then, differentiating and expressing the error in rotation-vector form, the following is obtained [7]:…”

Section: Inertial Attitudementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Relative Navigation in Asteroid Missions Using Dual Quaternion Filtering

Razgus

Mooij

Choukroun

2017

Journal of Guidance, Control, and Dynamics

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“…(5). The measurement standard deviation (Kim et al, 2007) is given by 0.0005 degrees. The measurement covariance matrix used in the EKF filter from all available LOS vectors is given by (27) where σ i , i=1…N is the measurement standard deviation.…”

Section: Relavis Scanning System-based Estimationmentioning

confidence: 99%

“…The measurement sensitivity matrix (Kim et al, 2007) . The estimated relative quaternion q rel was then used to compute the absolute chaser quaternion by multiplying the known target quaternions by the target onboard navigation, namely (44)…”

Section: Vision-based Relative Attitude Estimationmentioning

confidence: 99%

Integrated System for Autonomous Proximity Operations and Docking

Lee¹,

Pernicka²

2011

International Journal of Aeronautical and Space Sciences

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Autonomous rendezvous and docking are important technologies for current and future space programs, including missions such as supply and repair to the International Space Station (ISS) and the exploration of the moon, Mars, and beyond. Proximity operations and docking require extremely delicate and precise translational and rotational maneuverings. During the final approach of the proximity operations phase, the relative position, velocity, attitude and angular rates between the target and the chaser spacecraft must be precisely controlled in order to obtain the required docking interface conditions. As a consequence, precise relative position, velocity and attitude state estimations are required. The first spacecraft rendezvous and docking dates back to the manned US Gemini and Apollo programs (Zimpfer et al., 2005) AbstractAn integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the statedependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A sixdegree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

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Research on Angles-Only/SINS/CNS/GNSS Relative Position and Attitude Determination Algorithm for Uncooperative Target

Zhang

Qian

2012

Lecture Notes in Electrical Engineering

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Kalman Filtering for Relative Spacecraft Attitude and Position Estimation

Cited by 37 publications

References 15 publications

Relative Navigation in Asteroid Missions Using Dual Quaternion Filtering

Relative Navigation in Asteroid Missions Using Dual Quaternion Filtering

Integrated System for Autonomous Proximity Operations and Docking

Research on Angles-Only/SINS/CNS/GNSS Relative Position and Attitude Determination Algorithm for Uncooperative Target

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