An Autonomous 6 Degrees of Freedom Navigation System For A Maneuverable Pico-Satellite Rendezvous Mission
2010
A Continuous-Discrete Extended Kalman Filter has been designed to process measurements from a magnetometer, sun sensor, IMU, and GPS receiver to provide the relative position, velocity, attitude, and gyro bias of a chaser spacecraft relative to a target spacecraft. Dead-reckoning is used with the IMU to simplify the dynamics during impulsive maneuvers. The sensors modeled for this simulation are small and inexpensive enough to be used on a manueverable pico-satellite. With this simulation and speci c sensor selection the 1position error of the chaser spacecraft relative to the target can be estimated to within about 5 m, the velocity to within .1 m/s, and the attitude to within 2 degrees for both lters. If thrust is applied, the error settles almost immediately. The lter has been designed for and can be implemented on almost any small, low cost, low power satellite with this inexpensive set of sensors.
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