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Pose estimation of CubeSats via sensor fusion and Error-State Extended Kalman Filter

Deep Parikh, Manoranjan Majji

Abstract

A pose estimation technique based on error-state extended Kalman that fuses angular rates, accelerations, and relative range measurements is presented in this paper. An unconstrained dynamic model with kinematic coupling for a thrust-capable satellite is considered for the state propagation, and a pragmatic measurement model of the rate gyroscope, accelerometer, and an ultra-wideband radio are leveraged for the measurement update. The error-state extended Kalman filter framework is formulated for pose estimation, and its performance has been analyzed via several simulation scenarios. An application of the pose estimator for proximity operations and scaffolding formation of CubeSat deputies relative to their mother-ship is outlined. Finally, the performance of the error-state extended Kalman filter is demonstrated using experimental analysis consisting of a 3-DOF thrust cable satellite mock-up, rate gyroscope, accelerometer, and ultra-wideband radar modules.

Pose estimation of CubeSats via sensor fusion and Error-State Extended Kalman Filter

Abstract

A pose estimation technique based on error-state extended Kalman that fuses angular rates, accelerations, and relative range measurements is presented in this paper. An unconstrained dynamic model with kinematic coupling for a thrust-capable satellite is considered for the state propagation, and a pragmatic measurement model of the rate gyroscope, accelerometer, and an ultra-wideband radio are leveraged for the measurement update. The error-state extended Kalman filter framework is formulated for pose estimation, and its performance has been analyzed via several simulation scenarios. An application of the pose estimator for proximity operations and scaffolding formation of CubeSat deputies relative to their mother-ship is outlined. Finally, the performance of the error-state extended Kalman filter is demonstrated using experimental analysis consisting of a 3-DOF thrust cable satellite mock-up, rate gyroscope, accelerometer, and ultra-wideband radar modules.
Paper Structure (25 sections, 14 equations, 11 figures)

This paper contains 25 sections, 14 equations, 11 figures.

Table of Contents

  1. Introduction
  2. System Dynamics
  3. Traditional Approach using HCW Equations
  4. Kinematic Coupling and Relative Motion
  5. Sensor Models
  6. Rate Gyroscope and Accelerometer
  7. UWB Radar
  8. Pose Estimator
  9. Prediction step
  10. Measurement update
  11. Reset
  12. Position controller
  13. Simulation setup
  14. Controller structure
  15. Closed-loop performance
  16. ...and 10 more sections

Figures (11)

  • Figure 1: Various scaffolding structures to enable servicing of RSO
  • Figure 2: Arrangement of UWB transceivers and frames of reference
  • Figure 3: Anticipated measurements for rotating deputy
  • Figure 4: Simulated UWB range measurements and estimated range from EKF
  • Figure 5: Simultaneous truth propagation and estimation with closed-loop control
  • ...and 6 more figures