Hardware-in-the-Loop Simulation Experiment of Relative Optical Navigation System for Rendezvous and Docking

In the final approach phase of spacecraft autonomous rendezvous and docking,the relative positions,velocities and attitudes of two spacecrafts accurately are measured by the vision guided navigation system.Firstly,this paper designed the relative navigation measurement model and state model base on flight dynamics.Secondly,an Extended Kalman Filter(EKF) was used to estimate the relative attitude,velocity and position,and complete the relative navigation algorithm of the autonomous relatively rendezvous and docking bases on Matlab-Simulink6.5.Finally,we successfully completed the hardware-in-the-loop simulation experiment using the electro-optical integrated measurement and relative navigation system of our laboratory.The experimental results show that the relative navigation of the autonomous rendezvous and docking can supply sufficient precise relative state information for two autonomous rendezvous and docking spacecrafts.