Constrained relative attitude determination for two vehicle formations

Richard Linares, John L. Crassidis, Yang Cheng

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


This paper studies constrained relative attitude determination of a formation of two vehicles. A deterministic solution for the relative attitude between the two vehicles with line-of-sight measurements between them and a common object observed by both vehicles is presented. The solution represents the minimum number of measurements required to determine the relative attitudes and no ambiguities are present. To quantify the performance of the algorithm the covariance of the attitude error is derived using a linearized error model from a least-squares point of view. Simulation results are also provided to assess the performance of the proposed new approach.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786
StatePublished - 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

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