Filtering solution to relative attitude determination problem using multiple constraints

In this paper a filtering solution for the relative attitude and relative position of a formation of two spacecraft with multiple constraints is shown. The solution for the relative attitude and position between the two spacecraft is obtained only using line-of-sight measurements between them and a common (unknown) object observed by both spacecraft. The constraint used in the solution is a triangle constraint on the vector observations. This approach is extended to multiple objects by applying this constraint for each common object. Simulation runs to study the performance of the approach are shown.