Combining Stereo Vision and Inertial Navigation for Inspection Spacecraft

摘要

This paper proposes a Kalman filtering scheme for relative navigation of inspection spacecraft. The proposed scheme incorporates multiple sensor measurements, such as stereo vision system, global navigation satellite system and inertial navigation system. The multiple sensor fusing feature makes the given method is applicable to both cooperative and non-cooperative relative navigation scenarios. To deal with unknown non-cooperative pose parameters and uncertainties, a detailed relative error dynamics and its linear form is carefully derived, and the presented filtering formulation can obtain both the target’s pose and attitude parameters that includes sensor and target’s body moment of inertia.