Autonomous Inertial Relative Navigation with Sight-Line-Stabilized Sensors for Spacecraft Rendezvous

consists of the inertial position and velocity of the client satellite governed by a high-fidelity nonlinear orbital dynamics model. The error covariance matrix is formulated in terms of the estimation error in the relative position and velocity of the client satellite, consistent with the sensor measurements. Inertial attitude pointing and rate commands for tracking the client satellite are determined using the estimates of the client’s inertial relative position and velocity. To estimate the inertial attitude of the chaser satellite outside the space-integrated Global Positioning System/inertialnavigationsystem,anewthree-axissteady-stateanalyticalattitudeestimatorisdevelopedthatblends thegyro-andthestar-tracker-measuredattitudes.Thesimulationresultsofamidrangespacecraftrendezvoususing glideslope guidance validate this new six-state autonomous inertial relative navigation technique. The simulation resultsshowthattheimagingsensor’ssightlinecanbestabilizedattheclientsatelliteinmidrangeaccuratelyenough to enable the laser range finder to measure the range occasionally, but these measurements are not necessary for the midrangerendezvousphase,becausetheextendedKalman filtercanestimatetherangewiththeanglemeasurements of the imaging sensor.

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