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Incorporating delayed and multi-rate measurements in navigation filter for autonomous space rendezvous

Comellini, Anthea and Casu, Davide and Emmanuel, Zenou and Vincent, Dubanchet and Christine, Espinosa Incorporating delayed and multi-rate measurements in navigation filter for autonomous space rendezvous. (2020) Journal of Guidance Control and Dynamics, 43 (6). 1164-1188. ISSN 1533-3884

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Official URL: https://doi.org/10.2514/1.G005034

Abstract

In the scope of space missions involving rendezvous between a chaser and a target, vision based navigation relies on the use of optical sensors coupled with image processing and computer vision algorithms to obtain a measurement of the target relative pose. These algorithms usually have high latency time, implying that the chaser navigation filter has to fuse delayed and multi-rate measurements. This article has two main contributions: it provides a detailed modelization of the relative dynamics within the estimation filter, and it proposes a comparison of two delay management techniques suitable for this application. The selected methods are the Filter Recalculation method -which always provides an optimal estimation at the expense of a high computational load- and the Larsen’s method -which provides a faster solution whose optimality lies on stronger requirements. The application of these techniques to the space rendezvous problem is discussed and formalized. Finally, the current article proposes a comparison of the methods based on a Monte-Carlo campaign, aimed at demonstrating whether the loss of performance of Larsen’s method due to its sub-optimality still enables target state robust tracking.

Item Type:Article
HAL Id:hal-02651184
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Ecole nationale supérieure des Mines d'Albi-Carmaux - IMT Mines Albi (FRANCE)
Université de Toulouse > Institut National des Sciences Appliquées de Toulouse - INSA (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Thales (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Laboratory name:
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Deposited On:29 May 2020 13:31

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