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  • Open Access


    Cooperative Angles-Only Relative Navigation Algorithm for Multi-Spacecraft Formation in Close-Range

    Sha Wang1,2, Chenglong He1, Baichun Gong2,*, Xin Ding2, Yanhua Yuan3

    CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.1, pp. 121-134, 2023, DOI:10.32604/cmes.2022.017470

    Abstract 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… More >

  • Open Access


    Observability Analysis in Parameters Estimation of an Uncooperative Space Target

    Xianghao Hou1, *, Gang Qiao1

    CMES-Computer Modeling in Engineering & Sciences, Vol.122, No.1, pp. 175-205, 2020, DOI:10.32604/cmes.2020.08452

    Abstract To study the parameter estimating effects of a free-floating tumbling space target, the extended Kalman filter (EKF) scheme is utilized with different high-nonlinear translational and rotational coupled kinematic & dynamic models on the LIDAR measurements. Applying the aforementioned models and measurements results in the situation where one single state can be estimated differently with varying accuracies since the EKFs based on different models have different observabilities. In the proposed EKFs, the traditional quaternions based kinematics and dynamics and the dual vector quaternions (DVQ) based kinematics and dynamics are used for the modeling of the relative motions between a chaser satellite… More >

  • Open Access


    Lever Arm Compensation of Autonomous Underwater Vehicle for Fast Transfer Alignment

    Qi Wang1,2,*, Changsong Yang1,2, Shaoen Wu3, Yuxiang Wang1,2

    CMC-Computers, Materials & Continua, Vol.59, No.1, pp. 105-118, 2019, DOI:10.32604/cmc.2019.03739

    Abstract Transfer alignment is used to initialize SINS (Strapdown Inertial Navigation System) in motion. Lever-arm effect compensation is studied existing in an AUV (Autonomous Underwater Vehicle) before launched from the mother ship. The AUV is equipped with SINS, Doppler Velocity Log, depth sensor and other navigation sensors. The lever arm will cause large error on the transfer alignment between master inertial navigation system and slave inertial navigation system, especially in big ship situations. This paper presents a novel method that can effectively estimate and compensate the flexural lever arm between the main inertial navigation system mounted on the mother ship and… More >

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