In this paper, an optical camera/inter-spacecraft measurement integrated navigation method to autonomously guide a formation of spacecraft for small body landing is proposed and the visual landmark recognition method is presented to improve the navigation performance. By introducing the relative range and line of sight (LOS) angle between spacecraft measured by radiometric and optical sensors, the states of two spacecraft are estimated, and the estimation performance degradation of velocity is reduced, which is caused by using LOS to the feature point on small body surface as the unique navigation information. The camera is used for state estimation of the spacecraft, and the inter-spacecraft measurement is introduced to improve the observability and accuracy of the onboard autonomous navigation system, which provides an effective way to guarantee the sufficient accuracy. The observability of the integrated navigation system has been proven based on the analysis of the observability matrix, which illustrates the improvement of observability of the navigation system. Furthermore, a high-accuracy center extraction method is used for crater landmark extraction to obtain accurate LOS measurement information, and the extraction error is less than 1 pixel. To verify the performance of the proposed navigation method, numerical simulations are set up. Simulation results illustrate that the novel navigation method proposed in this paper improves the observability and estimation accuracy of the navigation system.
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