Study of Relative Position and Attitude Estimation and Control Scheme for the Final Phase of an Autonomous Docking Mission

Abstract

This paper describes a schemes for onboard relative position and attitude estimation and control for the final translational phase of an autonomous space rendezvous and docking system. Different estimators for attitude and position parameters based on a vision system outputs are given. Relative position control based on phase-plane control technique and relative attitude control based on relative quaternion feedb~k scheme are described. Sensitivity of different parameters on these estimators and controllers are also described. A detailed 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 suitable options for such amission.