Study of relative position and attitude estimation and control scheme for the final phase of an autonomous docking mission

摘要

This paper describes a chemes for onboard relative position and attitude estimation and control for the final translational pphade of an autonomous space rendezvous and docking system. Different estimators for attitude and position parameters based on a vision system outputs are given. Relative positioon control based on phase-plane control technique and relative attitude control based on relative quaternion feedback scheme are described. Sensitivity of different parameters on these estimators and controllers are also described. A detalied computer simulation provides the expected range of parameters for which a successful maneuver towards the target can be achieved. Finally fixed gain matrix estimators are also suggested as sutiable options for such a mission.