Close-Range Angles-Only Relative Navigation Of Multi-Agent Cluster For On-Orbit Servicing Mission

This research studies the close-range angles-only relative navigation problem for multi-agent cluster for on-orbit servicing mission when the camera offset from the vehicle center-of-mass allows for range observability. Emphasis is placed on developing navigation algorithm based on consensus Unscented Kalman Filter within the context of the second-order nonlinear dynamics and evaluate the performance of the navigation algorithm in two-body dynamics environment. Further, the geometric topology information of multi-agent is utilized to construct the consensus constraint.