Kalman Filtering for Relative Spacecraft Attitude and Position Estimation crassidis 2005外语英文电子书.pdfVIP

Kalman Filtering for Relative Spacecraft Attitude and Position Estimation Son-Goo Kim,∗ John L. Crassidis,† Yang Cheng,‡ Adam M. Fosbury§ University at Buffalo, State University of New York, Amherst, NY 14260-4400 John L. Junkins¶ Texas AM University, College Station, TX 77843-3141 In this paper a novel approach is developed for relative navigation and attitude esti- mation of spacecraft flying in formation. The approach uses information from an optical sensor, which employs relatively simple electronic circuits with modest digital signal pro- cessing requirements, to provide multiple line-of-sight vectors from spacecraft to another. The sensor mechanism is well suited for both near-Earth and deep space applications since it is fully independent of any external systems. The line-of-sight measurements are coupled with gyro measurements and dynamical models in an extended Kalman filter to determine relative attitude, position and gyro biases. The quaternion is used to describe the relative kinematics and general relative orbital equations are used to describe the positional dy- namics. Simulation results indicate that the combined sensor/estimator approach provides accurate relative position and attitude estimates. I. Introduction Spacecraft formation flying is an important technology, but not a new concept anymore.1,2 Since the early days of the space program several formation flying applications, such as rendezvous and docking maneuvers, have been accomplished in practice. Modern day spacecraft formation flying applications include long base- line interferometry, stereographic imaging, synthetic apertures, and distinguishing spat