Performance of the Flexible Inertial Relative Estimator (FIRE) for Terrestrial and On Orbit Relative Navigation

Kevin W. Key and Sharada Vitalpur

Abstract:	The Flexible Inertial Relative Estimator (FIRE) is being developed to provide precise relative position, velocity and time (PVT) information between a small free-flying vehicle (Mini AERCam) and a large orbiting platform such as the International Space Station (ISS). The relative state information will be used to enable automated maneuvers of the unmanned, free flying vehicle around the ISS. In addition, the precise relative state will provide the ground controllers and the crew on-board ISS with situational awareness that is required to make real-time decisions during remotely piloted flights. In order to meet the operational needs and safety requirements, the accuracy of the relative state information needs to be at the sub-meter level. FIRE uses the L1 carrier-phase information to estimate the precise relative state between the free-flyer and the orbiting platform. FIRE can operate in a terrestrial environment as well as on-orbit. A software switch selects the mode of operation. This paper presents the performance of FIRE in orbital and terrestrial environments; describes how well it meets its accuracy requirements; presents the performance of FIRE using different GPS receivers and antennae; and discusses the effects of multipath.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	2030 - 2037
Cite this article:	Key, Kevin W., Vitalpur, Sharada, "Performance of the Flexible Inertial Relative Estimator (FIRE) for Terrestrial and On Orbit Relative Navigation," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 2030-2037.
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