Hardware-in-the-loop simulations of GPS-based navigation and control for satellite formation flying

Jae Ik Park, Han Earl Park, Sang Young Park, Kyu Hong Choi

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28 Citations (Scopus)


A relative navigation and formation control algorithm for satellite formation flying was developed, and a hardware-in-the-loop (HIL) simulation testbed was established and configured to evaluate this algorithm. The algorithm presented is a relative navigation estimation algorithm using double-difference carrier-phase and single-difference code measurements based on the extended Kalman filter (EKF). In addition, a state-dependent Riccati equation (SDRE) technique is utilized as a nonlinear controller for the formation control problem. The state-dependent coefficient (SDC) form is formulated to include nonlinearities in the relative dynamics. To evaluate the relative navigation and control algorithms developed, a closed-loop HIL testbed is configured. To demonstrate the performance of the testbed, a test formation flying scenario comprising formation acquisition and keeping in a low earth orbit (LEO) has been established. The relative navigation results from the closed-loop simulations show that a 3D RMS of 0.07 m can be achieved for position accuracy. The targeted leader-follower formation flying in the along-track separation of 100 m was maintained with a mean position error of approximately 0.2 m and a standard deviation of 0.9 m. The simulation results show that the HIL testbed is capable of successful demonstration of the GPS-based satellite autonomous formation flying mission.

Original languageEnglish
Pages (from-to)1451-1465
Number of pages15
JournalAdvances in Space Research
Issue number11
Publication statusPublished - 2010 Dec 1

Bibliographical note

Funding Information:
This work was supported by the National Research Foundation (NRF) of Korea through the National Research Laboratory Program funded by the Ministry of Science and Technology (No. M10600000282-06J0000-28210 ).

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Astronomy and Astrophysics
  • Geophysics
  • Atmospheric Science
  • Space and Planetary Science
  • Earth and Planetary Sciences(all)


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