Estimating the relative pose and angular velocity of an uncooperative space object is a critical component for many applications such as on-orbit assembly, inspection, and servicing. This paper presents new mathematical insights that permit a kinematic batch filter formulation for angular velocity estimation using quaternion measurements for relative orientation, thereby eliminating the need to know the moment of inertia of the target. In particular, a novel batch approach to computing the associated uncertainties for the angular velocity magnitude, spin-axis direction, and overall angular velocity vector estimates is presented and compared against previous recursive methodologies. Finally, a realistic use-case scenario is demonstrated in real-time on flightlike hardware.
Kinematic Batch Estimator for Angular Velocity and Associated Uncertainty
Journal of Guidance, Control, and Dynamics ; 47 , 6 ; 1039-1054
2024-04-05
16 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Adaptive Angular Velocity Estimator (AAS 09-314)
British Library Conference Proceedings | 2010
|Springer Verlag | 2021
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