Method of preliminary solution of the problem of space robot navigation by onboard astronomical measurements using the butterworth filter

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A method of preliminary solution of the problem of space robot navigation based on the results of measurements carried out using its onboard optronic equipment is presented. The initial data of the navigation problem are the directional cosines of the space robot orientation vector in the absolute geocentric equatorial coordinate system with reference to time during one revolution. Analytical expressions are obtained for determining unknown parameters of the motion of the space robot center of mass in the form of Kepler’s elements of the orbit. It is shown that to determine the right ascension of the ascending node, the inclination and the semi-major axis of the orbit of the space robot, information about the orientation of its radius vector at various times is used, and to determine the perigee argument, the moment of passing the perigee and the eccentricity of the orbit, the angular orbital speed of the space robot is used, which is determined by the results of evaluating the speed of change in the orientation of its radius vector over time. The presented results can be used in the development of software for navigation systems that allow autonomous determination of the parameters of the space robot’s orbit using onboard electro-optical sensors in the absence of a priori information about the parameters of the reference orbit or signals from satellite radio navigation systems.

About the authors

V. M. Ananenko

Mozhaisky Military Space Academy

Author for correspondence.

Candidate of Science (Engineering), Associate Professor,
Senior Lecturer 
of the Department of Autonomous Control Systems

Russian Federation

A. D. Golyakov

Mozhaisky Military Space Academy


Doctor of Science (Engineering), Professor,
Professor of the Department of Autonomous Control Systems

Russian Federation

P. V. Kalabin

Mozhaisky Military Space Academy



Russian Federation


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