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Beyond Kalman Filtering - Evaluation of Filtering Techniques for Autonomous Relative Navigation

Benninghoff, Heike and Boge, Toralf (2014) Beyond Kalman Filtering - Evaluation of Filtering Techniques for Autonomous Relative Navigation. 9th International ESA Conference on Guidance, Navigation & Control Systems, 02.-06. Juni 2014, Porto, Portugal.

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Estimation problems have to be solved in several space applications. During rendezvous to a target spacecraft, e.g. in an on-orbit servicing mission, the relative pose (position and attitude) between the two involved bodies has to be estimated by navigation filters. The Kalman filter is a popular filter technique for linear estimation problems. A modification for non-linear problems is the Extended Kalman Filter which is based on local linearization of non-linear functions. In this paper, further filter techniques alternative to the standard Kalman filter like e.g. Particle Filter, Unscented Kalman Filter, H-infinity Filter and their application on relative navigation are investigated. Practical results where the methods were applied on a navigation problem are shown and discussed. Therefore a rendezvous process including non-linear dynamical system equations was simulated on the robotic based test facility EPOS 2.0 (European Proximity Operations Simulator). A mono, CCD camera was used as rendezvous sensor. The outer edges of a target satellite were detected by an image processing system and served as measurement for the navigation filters. As camera model a pinhole model with radial distortion was applied which results in a non-linear measurement equation. The resulting non-linear estimation problem was solved with different navigation filters. A comparison of the different estimation methods was drawn with respect to applicability, necessary statistical a-priori knowledge, computational effort, real-time capability and accuracy.

Item URL in elib:https://elib.dlr.de/89727/
Document Type:Conference or Workshop Item (Speech)
Title:Beyond Kalman Filtering - Evaluation of Filtering Techniques for Autonomous Relative Navigation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Dynamic filtering, Kalman Filter, Relative Navigation, Rendezvous
Event Title:9th International ESA Conference on Guidance, Navigation & Control Systems
Event Location:Porto, Portugal
Event Type:international Conference
Event Dates:02.-06. Juni 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Frei, Heike
Deposited On:09 Jul 2014 17:41
Last Modified:09 Jul 2014 17:41

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