DAVID S. BAYARD, Senior Member, IEEE
PAUL B. BRUGAROLAS, Senior Member, IEEE
Jet Propulsion Laboratory
A methodology is summarized for designing on-board state estimators in support of spacecraft exploration of small bodies such as asteroids and comets. This paper focuses on an estimation algorithm that incorporates two basic computer-vision measurement types: a landmark table (LMT) and a paired feature table (PFT). Several innovations are developed to incorporate these measurement types into the on-board state estimation algorithm. Simulations are provided to demonstrate the feasibility of the approach.
Manuscript received January 15, 2006; revised November 28 and
December 31, 2006; released for publication February 23, 2007.
IEEE Log No. T-AES/44/1/920400
Refereeing of this contribution was handled by Y. Oshman.
This research was performed at the Jet Propulsion Laboratory,
California Institute of Technology, under contract with the National
Aeronautics and Space Administration, and funded through the
internal Research and Technology Development program.
The results of this work were first reported in JPL Internal
Document JPL D-30281, 2004 [3], and appeared in an abridged
form in Proceedings of the American Control Conference, 2005 [4].
Authors' address: Jet Propulsion Laboratory, California Institute of
Technology, MS 198-326, 4800 Oak Grove Drive, Pasadena, CA
91109, E-mail: (david.bayard@jpl.nasa.gov).
0018-9251/08/$25.00 © 2008 IEEE