Distributed Dual Quaternion Extended Kalman Filtering for Spacecraft Pose Control
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2023-07-07
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Abstract
In this paper, we analyze a distributed dual-quaternion multiplicative extended Kalman filter for the estimation of poses and velocities of individual satellites in a fleet of spacecraft. Our proposed algorithm uses both absolute and relative pose measurements between neighbouring satellites in a network, allowing each individual satellite to estimate its own pose and that of its neighbours. By utilizing the distributed Kalman consensus filter, we propose a novel sensor and state-estimate fusion procedure that allows each satellite to improve its own state estimate by sharing data with its neighbours over a communication link. We also examine a leader-follower approach, whereby only a subset of the satellites have access to an absolute pose measurement. In this case, followers rely solely on the information provided by their neighbours, as well as relative pose measurements to those neighbours. The algorithm is tested extensively via numerical simulations, and it is shown that the approach provides a substantial improvement in performance over the scenario in which the satellites do not cooperate. A case study of satellites swarming an asteroid is presented, and the performance in the leader-follower scenario is also analyzed.
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ETH Zurich
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08814 - Smith, Roy (Tit.-Prof.) (ehemalig) / Smith, Roy (Tit.-Prof.) (former)
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Is supplemented by: https://doi.org/10.3929/ethz-b-000485975
Is previous version of: https://doi.org/10.3929/ethz-b-000723940
Is supplemented by: https://doi.org/10.3929/ethz-b-000606978