Relative navigation in asteroid missions: A dual quaternion approach

B. Razgus, E. Mooij, D. Choukroun

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference, 2017
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624104503
StatePublished - 1 Jan 2017
EventAIAA Guidance, Navigation, and Control Conference, 2017 - Grapevine, United States
Duration: 9 Jan 201713 Jan 2017

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2017

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference, 2017
Country/TerritoryUnited States
CityGrapevine
Period9/01/1713/01/17

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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