TY - EJOU
AU - Wang, Sha
AU - He, Chenglong
AU - Gong, Baichun
AU - Ding, Xin
AU - Yuan, Yanhua
TI - Cooperative Angles-Only Relative Navigation Algorithm for Multi-Spacecraft Formation in Close-Range
T2 - Computer Modeling in Engineering \& Sciences
PY - 2023
VL - 134
IS - 1
SN - 1526-1506
AB - As to solve the collaborative relative navigation problem for near-circular orbiting small satellites in close-range
under GNSS denied environment, a novel consensus constrained relative navigation algorithm based on the lever
arm effect of the sensor offset from the spacecraft center of mass is proposed. Firstly, the orbital propagation
model for the relative motion of multi-spacecraft is established based on Hill-Clohessy-Wiltshire dynamics and
the line-of-sight measurement under sensor offset condition is modeled in Local Vertical Local Horizontal frame.
Secondly, the consensus constraint model for the relative orbit state is constructed by introducing the geometry
constraint between the spacecraft, based on which the consensus unscented Kalman filter is designed. Thirdly, the
observability analysis is done and the necessary conditions of the sensor offset to make the state observable are
obtained. Lastly, digital simulations are conducted to verify the proposed algorithm, where the comparison to the
unconstrained case is also done. The results show that the estimated error of the relative position converges very
quickly, the location error is smaller than 10 m under the condition of 10−3 rad level camera and 5 m offset.
KW - Relative navigation; spacecraft formation; observability analysis; angles-only measurement
DO - 10.32604/cmes.2022.017470