航天器近程编队自主协同相对导航方法

针对GNSS(全球导航卫星系统)拒止环境下近圆轨道多航天器近距离编队自主协同相对导航问题,提出了利用测角相机偏离航天器质心安装时的杆臂效应和多航天器之间几何一致性约束来实现相对导航的方法.首先,在第二轨道坐标下分别建立了基于Hill-Clohessy-Wiltshire方程的多航天器编队相对轨道演化模型、测角相机偏离质...

Cooperative Relative Navigation Algorithm for MultispacecraftCloserange Formation

To solve the collaborative relative navigation problemfor near circular orbiting small satellites in close rangeformation under GNSS denied environment, a novel consensus constrained relativenavigation algorithm based on the lever arm effect of the sensor offset fromthe spacecraft center of mass is proposed. Firstly, the orbital propagationmodel for the relative motion of the multi spacecraftformation is established based on the Hill Clohessy Wiltshire equations and the line of sight measurement under sensor offset condition is modeled in theLocal Vertical Local Horizontal frame. Secondly, the consensus constraint modelfor the relative orbit state is constructed by introducing the geometryconstraint between the spacecraft, based on which the consensus extended Kalmanfilter is designed. Next, the observability analysis is done and the conditionsof the sensor offset to make the state observable are obtained. Lastly, thedigital simulations are conducted to verify the proposed algorithm, where thecomparison to the unconstrained case is also done. The results show that theestimate error of the relative position converges very quickly, the locationerror is smaller than 10 m under the condition of 10 -3 rad level camera and 5 m offset.