The differential geometric filter is implemented to estimate the absolute and relative positions of the spacecraft in a formation.\r\nThe extended Kalman Filter is also implemented as a benchmark for the differential geometric estimation. Only relative positions\r\nbetween the spacecraft are measured. Relative positions are measured using a wireless local positioning system (WLPS) installed in\r\nall spacecraft. Two different scenarios are studied: (1) the observations include WLPS measurements only and (2) the observations\r\ninclude WLPS measurements in addition to measurements for the absolute position of one spacecraft made by a radar that takes\r\nmeasurements from the earth�s surface. Results show that the differential geometric estimation has better stability performance\r\nand a faster convergence rate compared to the extended Kalman filter.
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