Generalized Image Navigation and Registration Method Based on Kalman Filter

Abstract

A Generalized Image Navigation and Registration (INR) method is presented using Kalman Filter (KF). The basic method is landmark-based, ‘self- contained’ INR system that estimates orbit in itself or refines the coarse orbit received from the Flight Dynamics System (FDS). Kalman Filter measurements consist of landmarks taken by the imaging instrument, maneuver delta v or orbit from FDS, and attitude from spacecraft telemetry inserted in the imager wideband data. The KF state vector (SV) consists of spacecraft attitude cor-rection angles, constant attitude correction angles biases, spacecraft orbit position and velocity relative to ideal orbit using Euler-Hill equations, imager internal misalignments, and constant misalignment biases. The basic method is then shown how it can be adapted to systems using star and landmark measurements, systems using star only measurements with orbit provided by FDS or GPS, and systems using spacecraft attitude rate inserted in wideband telemetry.