Attitude estimation via LIDAR altimetry and a particle filter

Brian Gaudet, Roberto Furfaro, Bogdan Udrea

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


Given a three dimensional (3D) point cloud of a resident space object (RSO) and a chaser spacecraft with a scanning LIDAR, we need to determine the relative position, velocity, attitude, and rotational velocity between the spacecraft and the RSO. For this initial work, we assume that the relative position and velocity of the chaser spacecraft are known, and use a Rao-Blackwellized particle filter to infer the relative attitude and rotational velocity of the RSO with respect to the chaser. Specifically, we assume that the relative attitude is defined as the rotations around the x, y, and z axes of the point cloud reference frame necessary to align the point cloud axes with the axes of an inertial reference frame, which in practice could be maintained with high accuracy by the chaser spacecraft attitude determination system. The angular rate is just the time derivative of these rotations determined at fixed time intervals.

Original languageEnglish (US)
Title of host publicationAdvances In The Astronautical Sciences
EditorsDonald L. Mackison, Ossama Abdelkhalik, Roby S. Wilson, Renato Zanetti
PublisherUnivelt Inc.
Number of pages11
ISBN (Electronic)9780877036111
StatePublished - 2014
Event24th AAS/AIAA Space Flight Mechanics Meeting, 2014 - Mexico, United States
Duration: Jan 26 2014Jan 30 2014

Publication series

NameAdvances in the Astronautical Sciences
ISSN (Print)0065-3438


Other24th AAS/AIAA Space Flight Mechanics Meeting, 2014
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science


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