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A real-time kinematic GPS sensor for spacecraft relative navigation

机译：用于航天器相对导航的实时运动学GPS传感器

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摘要

The concept and prototype implementation of a spaceborne relative navigation sensor based on a pair of GPS receivers is presented. It employs two individual receivers exchanging raw measurements via a dedicated serial data link. Besides computing their own navigation solution, the receivers process single difference measurements to obtain their mutual relative state. The differential processing provides a high level of common error cancellation while the resulting noise is minimized by appropriate use of carrier phase measurements. A prototype relative navigation sensor making use of the above concepts has been built up based on the GPS Orion 12 channel L1 receiver and qualified in hardware-in-the-loop tests using a GPS signal simulator. It provides a relative navigation solution with representative r.m.s. accuracies of 0.5 m and 1 cm/s, respectively, for position and velocity. For ease of use the relative state is provided in a co-moving frame aligned with the radial, cross-track and along-track direction. The purely kinematic nature of state estimation and the small latency make the system well suited for maneuvering spacecraft, while the minimalist hardware requirements facilitate its use on microsatellite formations.
机译：提出了基于一对GPS接收机的星载相对导航传感器的概念和原型实现。它使用两个单独的接收器，通过专用的串行数据链路交换原始测量值。除了计算自己的导航解决方案之外，接收器还处理单个差异测量值以获得它们的相互相对状态。差分处理可提供高水平的公共误差消除功能，而通过适当使用载波相位测量结果可将产生的噪声降至最低。已经基于GPS Orion 12通道L1接收器构建了利用以上概念的原型相对导航传感器，并通过GPS信号模拟器进行了硬件在环测试。它提供了具有代表性r.m.s的相对导航解决方案。位置和速度的精度分别为0.5 m和1 cm / s。为了易于使用，在与径向，交叉轨迹和沿轨迹方向对齐的共同移动框架中提供了相对状态。状态估计的纯粹运动学性质和较小的等待时间使该系统非常适合于操纵航天器，而最低限度的硬件要求则促进了其在微卫星编队上的使用。

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