Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

Brandon K. DeKock, Kevin M. Betts, James H. McDuffie, Christine B. Dreas

Abstract:	bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed to integrate measurements based on the vehicles’ orbital mechanics and high-fidelity sensor error models and to provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested through stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).
Published in:	Proceedings of the 2008 National Technical Meeting of The Institute of Navigation January 28 - 30, 2008 The Catamaran Resort Hotel San Diego, CA
Pages:	193 - 203
Cite this article:	DeKock, Brandon K., Betts, Kevin M., McDuffie, James H., Dreas, Christine B., "Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions," Proceedings of the 2008 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2008, pp. 193-203.
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