Relative position and attitude estimation of spacecrafts based on dual quaternion for rendezvous and docking

Qiao, Bing; Tang, Shuren; Ma, Kexin; Zhenya(刘振亚), Liu

doi:10.1016/j.actaastro.2013.06.022

Cited by 37 publications

(21 citation statements)

References 13 publications

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“…The filtering algorithm plays an important role in the relative attitude and position estimation accuracy [1][2][3]. Several space agencies have shown interest in failed satellite operation and various space missions have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Iterated Extended KALMAN Filter for Relative Spacecraft Attitude and Position Estimation

Xiong¹,

Wei²

2017

Asian Journal of Control

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This paper presents a novel adaptive iterated extended Kalman filter (AIEKF) for relative position and attitude estimation, taking into account the influence of model uncertainty. Considering a nonlinear stochastic discrete-time system with unknown disturbance, the AIEKF algorithm adopts the Gauss-Newton iterative optimization steps to implement a maximum a posteriori (MAP) estimation, and the switch-mode combination technique is used to achieve the adaptive capability. The mean-square estimation error (MSE) of the state estimate is derived. It is proved that the AIEKF can yield a smaller MSE than that of the traditional extended Kalman filter (EKF) or iterated extended Kalman filter (IEKF). The performance advantage of the AIEKF is illustrated via Monte Carlo simulations on a typical relative position and attitude estimation application. Through comparisons in different scenarios, the presented algorithm is shown to improve adaptability and ensure estimation accuracy.

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Section: Introductionmentioning

confidence: 99%

Adaptive Iterated Extended KALMAN Filter for Relative Spacecraft Attitude and Position Estimation

Xiong¹,

Wei²

2017

Asian Journal of Control

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“…(14). However, this method is based on empirical data and lacks some background theory to explain why the error is constant.…”

Section: Disturbance Torquesmentioning

confidence: 99%

“…Research shows that it could result in higher accuracy and faster convergence [14,15], while redundancy in the position representation can be efficiently handled via order reduction [16], alike the approach used for multiplicative attitude quaternion EKF [17,18].…”

Section: Introductionmentioning

confidence: 99%

“…Dual quaternions provide an alternate representation [9][10][11] and have spawned growing attention with applications ranging from image processing to spacecraft navigation [12][13][14][15][16]. Research shows that it could result in higher accuracy and faster convergence [14,15], while redundancy in the position representation can be efficiently handled via order reduction [16], alike the approach used for multiplicative attitude quaternion EKF [17,18].…”

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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“…Research shows that it could result in higher accuracy and faster convergence. 8,9 As of June 2016, there have been no attempts to implement dual quaternions for navigation in an asteroid mission, which is where this paper comes in. The main contribution of this paper is the investigation of dual quaternions as an efficient representation in relative-navigation algorithms for asteroid missions.…”

mentioning

confidence: 99%

Relative Navigation in Asteroid Missions: A Dual Quaternion Approach

Razgus

Mooij

Choukroun

2017

AIAA Guidance, Navigation, and Control Conference

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This paper presents an Extended Kalman filter (EKF) for relative position and attitude (pose) estimation in a mission around an asteroid. It compares two different ways of representing the pose: a conventional one (Cartesian coordinates for position and quaternions for attitude) and a novel approach (dual quaternions, which comprise both attitude and position in one eight-dimensional vector). Moreover, this paper presents a 'realistic' modelling for dynamics and hardware simulation for missions around small bodies. It includes a polyhedron gravity field modelling, polyhedron gravity gradient torque, navigation camera and laser ranger measurements. The results of the filters show that it is not only possible to estimate the relative states with high accuracy, but also parameters such as gyroscope drift and asteroid angular rates can be estimated. This, however, can only be achieved when the navigation camera detects landmarks in its field-of-view. Finally, the dual quaternion representation does not give any noticeable advantages over the conventional one; in fact, the two filters are identical in the steady state.

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Relative position and attitude estimation of spacecrafts based on dual quaternion for rendezvous and docking

Cited by 37 publications

References 13 publications

Adaptive Iterated Extended KALMAN Filter for Relative Spacecraft Attitude and Position Estimation

Adaptive Iterated Extended KALMAN Filter for Relative Spacecraft Attitude and Position Estimation

Relative Navigation in Asteroid Missions Using Dual Quaternion Filtering

Relative Navigation in Asteroid Missions: A Dual Quaternion Approach

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