Extended Kalman filters for close-range navigation to noncooperative targets

The data sets provided here are associated to the paper “Extended Kalman filters for close-range navigation to noncooperative targets” available at this link. These allow recreating the simulations discussed in Sections 5.2 – for the results plotted in Figure 7 – 5.3 (Figures 9-10), and 5.4 (Figures 11-12).

That paper presents a set of dynamic filters for estimating the relative roto-translational state and the main parameters of a noncooperative target from an observing chaser satellite during close proximity operations. The proposed different options address a wide range of design possibilities for the architecture of the relative navigation system. All filters are derived from a common, general, core shaped as a dynamic multiplicative extended Kalman filter using dual quaternions. This allows exploiting the advantages of handling the pose (i.e., attitude and position) in a multiplicative fashion, while improving the accuracy in the estimation of the angular and linear relative velocities, as well as enabling the estimation of some meaningful parameters of the target spacecraft (e.g., the ratios of the moments of inertia, position and orientation of the principal axes frame). Moreover, by adopting relative kinematics and dynamics equations in dual quaternions, the inherent coupling of the six degrees-of-freedom motion is addressed with no approximations.

All filters take as observations only the noisy pose measurements from an electro-optical device. For each proposed formulation, numerical simulations are carried out to show the behaviour of the filter within a scenario representative of close-range target inspection at conclusion of the mid-range rendezvous.

本数据集关联于可通过此链接获取的论文《面向非合作目标近距离导航的扩展卡尔曼滤波器（Extended Kalman filters for close-range navigation to noncooperative targets）》。本数据集可复现论文中5.2节（对应图7结果）、5.3节（对应图9-10）以及5.4节（对应图11-12）所讨论的仿真实验。

该论文提出了一类动态滤波器，用于在近距离接近操作过程中，由观测用追踪卫星估计非合作目标的相对旋转-平动状态与核心参数。所提出的多种不同方案，可为相对导航系统的架构提供丰富的设计可能性。所有滤波器均基于统一的通用核心架构推导而来，该架构为采用对偶四元数（dual quaternions）的动态乘性扩展卡尔曼滤波器。该架构可借助乘性方式处理位姿（即姿态与位置）的优势，同时提升相对角速度与线速度的估计精度，还能够实现目标航天器部分关键参数的估计，例如转动惯量之比、主轴坐标系的位置与朝向。此外，通过采用基于对偶四元数的相对运动学与动力学方程，该方法可在无近似的前提下处理六自由度运动的固有耦合问题。

所有滤波器仅以光电设备采集的含噪位姿测量值作为观测输入。针对每一种所提出的滤波器设计方案，均开展了数值仿真，以验证滤波器在中程交会任务末期的近距离目标巡检典型场景中的运行表现。