TY - GEN
T1 - Relative navigation in asteroid missions
T2 - AIAA Guidance, Navigation, and Control Conference, 2017
AU - Razgus, B.
AU - Mooij, E.
AU - Choukroun, D.
N1 - Publisher Copyright:
© 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2017/1/1
Y1 - 2017/1/1
N2 - This paper presents an Extended Kalman filter (EKF) for relative position and attitude (pose) estimation in a mission around an asteroid. It compares two different ways of representing the pose: a conventional one (Cartesian coordinates for position and quaternions for attitude) and a novel approach (dual quaternions, which comprise both attitude and position in one eight-dimensional vector). Moreover, this paper presents a 'realistic' modelling for dynamics and hardware simulation for missions around small bodies. It includes a polyhedron gravity field modelling, polyhedron gravity gradient torque, navigation camera and laser ranger measurements. The results of the filters show that it is not only possible to estimate the relative states with high accuracy, but also parameters such as gyroscope drift and asteroid angular rates can be estimated. This, however, can only be achieved when the navigation camera detects landmarks in its field-of-view. Finally, the dual quaternion representation does not give any noticeable advantages over the conventional one; in fact, the two filters are identical in the steady state.
AB - This paper presents an Extended Kalman filter (EKF) for relative position and attitude (pose) estimation in a mission around an asteroid. It compares two different ways of representing the pose: a conventional one (Cartesian coordinates for position and quaternions for attitude) and a novel approach (dual quaternions, which comprise both attitude and position in one eight-dimensional vector). Moreover, this paper presents a 'realistic' modelling for dynamics and hardware simulation for missions around small bodies. It includes a polyhedron gravity field modelling, polyhedron gravity gradient torque, navigation camera and laser ranger measurements. The results of the filters show that it is not only possible to estimate the relative states with high accuracy, but also parameters such as gyroscope drift and asteroid angular rates can be estimated. This, however, can only be achieved when the navigation camera detects landmarks in its field-of-view. Finally, the dual quaternion representation does not give any noticeable advantages over the conventional one; in fact, the two filters are identical in the steady state.
UR - http://www.scopus.com/inward/record.url?scp=85017476253&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85017476253
SN - 9781624104503
T3 - AIAA Guidance, Navigation, and Control Conference, 2017
BT - AIAA Guidance, Navigation, and Control Conference, 2017
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
Y2 - 9 January 2017 through 13 January 2017
ER -