An estimation algorithm for vision-based exploration of small bodies in space

This paper summarizes a methodology 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 and a paired feature table. 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.