Relative position and attitude estimation and control schemes for the final phase of an autonomous docking mission of spacecraft

摘要

This paper describe schemes for onboard relative position and attitude estimation and control for the final translational phase of an autonomous space rendezvous and docking system. Different estimators for attitude and position parameters based on a vision system outputs are given. Relative position control based on phase-plane control technique and relative attitude control based on relative quaternion feedback scheme are described. Based on the study, it turns out that fixed gain observers are sufficient for the estimation of position and attitude. Sensitivity of different parameters on these estimators and controllers are also described. A detailed computer simulation provides the expected range of parameters for which a successful maneuver towards the target can be achieved.