Novel dual vector quaternions based adaptive extended two-step filter for pose and inertial parameters estimation of a free-floating tumbling space target

Abstract

Estimating the parameters of an uncooperative space target is essential to the on-orbit service missions. A good parameter estimation can provide sufficient prior knowledge for the further operations. This paper proposes a novel dual vector quaternions based adaptive extended two-step filter (DVQ-AETSF) to estimate the pose and inertial parameters of a free-floating tumbling space target. Firstly, both of the rotational and translational motions are modeled by the dual vector quaternions (DVQ). Then, by using the DVQ-based system model, the DVQ-AETSF is designed. The proposed DVQ-AETSF mainly consists of a traditional Kalman filter prediction procedure in the first step and an adaptive regularized Newton iteration technique in the second step. The new proposed two-step filter aims to deal with the high nonlinearities in the measurements equations. By using the proposed DVQ-AETSF, both of the pose and initial parameters of a free floating tumbling space target under large errors of initial guesses and high measurement noise can be well estimated. Finally, the proposed DVQ-AETSF is validated by mathematical simulations to show its performance.