Cooperative Angles-Only Relative Navigation Algorithm for Multi-Spacecraft Formation in Close-Range.

The article discusses the collaborative relative navigation problem for near-circular orbiting small satellites in close-range under GNSS denied environment. Topics include the orbital propagation model for the relative motion of multi-spacecraft is established based on Hill-Clohessy-Wiltshire dynamics; consensus constraint model for the relative orbit state is constructed by introducing the geometry constraint between the spacecraft, and digital simulations conducted to verify the algorithm.