Kalman filtering for relative spacecraft attitude and position estimation
Abstract
In this paper a novel approach is developed for relative navigation and attitude estimation of spacecraft flying in formation. The approach uses information from an optical sensor, which employs relatively simple electronic circuits with modest digital signal processing 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 dynamics. Simulation results indicate that the combined sensor/estimator approach provides accurate relative position and attitude estimates.
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Navigation systems for close-proximity operations have been extensively validated for RF and monocular vision navigation for FF and on-orbit servicing when the target is cooperative.
“Navigation systems for close-proximity operations have been extensively validated in the context of RF and monocular vision navigation for FF and on-orbit ser-630 vicing, when the target is cooperative [64,1,65,61,66].”
From Review of the robustness and applicability of monocular pose estimation systems for relative navigation with an uncooperative spacecraft (2019) · cites this paper as [61]
The EKF and UKF presented in [61] and [66] rely on availability of gyro measurements from each spacecraft, which is usually not the case for uncooperative spacecraft in ADR scenarios.
“As an example, the EKF and the Unscented Kalman Filter (UKF) presented in [61] and [66], respectively, rely on the availability of gyro measurements from each spacecraft, which is usually not the case for uncooperative 635 spacecraft in ADR scenarios.”
From Review of the robustness and applicability of monocular pose estimation systems for relative navigation with an uncooperative spacecraft (2019) · cites this paper as [61]
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- Authors
- Kim, S.-G., Crassidis, J. L., Cheng, Y., Fosbury, A. M., & Junkins, J. L.
- Affiliations
- University at Buffalo, State University of New York (US)
- Texas A&M University (US)
- Venue
- Journal of Guidance Control and Dynamics
- Published
- 2007-01
- Volume
- 30
- Issue
- 1
- Pages
- 133-143
- ISSN
- 0731-5090 (ISSN-L)
- 1533-3884
- OpenAlex
- W2085634063
- Cited by
- 320
- References
- 29
- Citations by year
- 2026: 8 · 2025: 8 · 2024: 3 · 2023: 10 · 2022: 11 · 2021: 22 · 2020: 16 · 2019: 18 · 2018: 26 · 2017: 26 · 2016: 22 · 2015: 26 · 2014: 19 · 2013: 20 · 2012: 15
- FWCI
- 18.53
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Journal of Guidance Control and Dynamics (publishedVersion)
- AIAA Guidance, Navigation, and Control Conference and Exhibit (publishedVersion)
- Dissertations & Theses @ SUNY Buffalo,ProQuest Dissertations & Theses Global
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Spacecraft Dynamics and Control
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Physical Sciences › Engineering › Aerospace Engineering › Space Satellite Systems and Control
- Keywords
- formation flying, relative attitude estimation, relative position estimation, extended Kalman filter, gyro bias estimation, quaternion kinematics
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