Fundamentals of Spacecraft Optical Navigation

Foreword

Preface

Acknowledgments

Acronyms

1 Introduction

1.1 OpNav Pre-History

1.2 The Rise of Radio Navigation

1.3 OpNav in Crewed Spaceflight

1.4 OpNav in Robotic Spaceflight

1.5 Terrain Relative Navigation

2 Mathematical Foundations 49

2.1 Set Theory and Algebraic Structures

2.2 Vector Spaces and Linear Algebra

2.3 Change of Basis and Orthogonal Matrices

2.4 Attitude Parameterizations

2.5 Geometric Algebra

2.6 Polynomials

2.7 Conics (a first encounter)

3 Projective Geometry 165

3.1 Perspective and the Pinhole Camera Model

3.2 Rules of Perspective Projection

3.3 An Axiomatic Perspective

3.4 An Algebraic Perspective

3.5 Invariants

3.6 Two-Dimensional Transformations

4 Time, Reference Frames, and Orbits 309

4.1 Time and Angle

4.2 Equinoxes and Solstices

4.3 Celestial Reference Frames

4.4 Days, Calendars, and Civil Time

4.5 Two-Body Orbital Mechanics

4.6 Dissemination of Celestial Geometry

5 Astrometry and Star Catalogs 397

5.1 The Propagation of Light

5.2 Asterisms and Constellations

5.3 Classical Star Catalogs

5.4 Modern Astrometry and Star Catalogs

5.5 Stochastic Catalogs

5.6 Theory of Relativity

6 Radiometry and Photometry 515

6.1 Electromagnetic Spectrum

6.2 Photons and Quantum Electrodynamics (QED)

6.3 Radiometric Units of Measure

6.4 Blackbody Radiation

6.5 Apparent Magnitude

6.6 Photometric Systems

6.7 Transmittance and Optical Depth

6.8 Single-Scattering Phase Function (SSPF)

6.9 Reflectance Models

6.10 Reflectance Models for Rough Planetary Surfaces

6.11 Reflectance Model Comparisons

6.12 Resolved Photometry

6.13 Unresolved (Disk-Integrated) Photometry

7 Camera Hardware and Models 689

7.1 Overview of Camera Systems

7.2 Light Baffles

7.3 Optical Assembly

7.4 Image Sensors

7.5 Camera & Optical Instrument Design

8 Navigating with Stars 821

8.1 Modeling Stars in Digital Images

8.2 Star Detection and Centroiding

8.3 Attitude Determination

8.4 Star Identification

8.5 Velocity Estimation from Stellar Aberration

9 Celestial Navigation 927

9.1 Global Shape of Self-Gravitating Bodies

9.2 Images of Ellipsoidal Celestial Bodies

9.3 Horizon-Based Position Estimation

9.4 Horizon-Based Attitude Determination

9.5 Triangulation

9.6 Navigation Filters

10 Terrain Relative Navigation 1069

10.1 Landmarks

10.2 Map-Free TRN

10.3 Map-Based TRN

Index