Dual Quaternion Kalman Filters for Spacecraft Relative Pose Estimation

摘要

This work presents two kinematic additive dual quaternion Kalmanrnu001clters for position, attitude and sensor biases estimation in a low Earthrnorbit two-spacecraft relative navigation problem. The spacecraft are as-rnsumed to be equipped with sensing suites that are suitable for close prox-rnimity operations (within the meters scale), which provide biased angularrnand linear velocities, and a batch of inter-satellite line-of-sight obser-rnvations extracted from a vision-based navigation system. Three otherrndiu001berent algorithms, additive and multiplicative, are developed involvingrndual quaternions and standard pose representations. Extensive numer-rnical simulation is performed for a proximity operation scenario and thernu001clters' performances are compared.