Study on Federal Filter of Relative Navigation for Non-cooperative Spacecraft

This paper presents a federal filter of on-orbit relative navigation for space robot to non-cooperative spacecraft using laser-range-finder(LRF) and vision camera(VC).It first analyzes the problems when measuring the non-cooperative target using LRF and VC on orbit,then describes the federal filter including main filter for data fusion,and sub-filters for angles and range data filter.Specific criteria in the filter are provided for condition resetting.Simulation experiments result indicates this federal filter can provide smooth relative navigation data and can be more tolerant when some equipment is malfunction and rehabilitation,and system is reconfigured.