Onboard Orbit Determination for Deep-Space CubeSats

In this work, an orbit determination algorithm suitable for CubeSats onboard implementation is developed, which simulates optical autonomous navigation accomplished by a stand-alone platform. An extended Kalman filter featuring line-of-sight acquisitions of planets is selected as the state estimator, and its performances are tested on a Raspberry Pi, whose characteristics are comparable to a miniaturized onboard computer. An improvement of the solution accuracy is performed by correcting the planetary light-time and aberration effects as well as by exploiting the optimal beacons selection strategy to acquire the external observations. Moreover, the numerical precision of the estimator is improved through the implementation of factorization techniques and nondimensionalization strategies. The results are presented for a sample Earth–Mars transfer, where the time slot for the navigation campaign involves 2 h every 10 days. At final time, the probe position and velocity are estimated with a 3σ accuracy of 360 km and 0.04 m/s, respectively