This paper summarizes a methodology for designing on-board state estimators in support of spacecraft exploration of small bodies such as asteroids and comets. This paper will focus on an estimation algorithm that incorporates two basic computer-vision measurement types: a Landmark Table and a Paired Feature Table. Several innovations are developed to incorporate these measurement types into the onboard state estimation algorithm. Simulations are provided to demonstrate the feasibility of the approach.


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    Title :

    An estimation algorithm for vision-based exploration of small bodies in space


    Contributors:

    Publication date :

    2005-06-08


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English





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