2025/10/06 by Raktim Bhattacharya, Bhattacharya, Raktim
Computer Science · Engineering · #Target Tracking and Data Fusion in Sensor Networks #Robotics and Sensor-Based Localization #Inertial Sensor and Navigation
paper · pdf · doi:10.48550/arxiv.2510.04942
This paper develops a robust estimation framework for cislunar navigation that embeds the Circular Restricted Three-Body Problem (CR3BP) dynamics and bearing-only optical measurements within a Linear Fractional Transformation (LFT) representation. A full-order H_∞ observer is synthesized with explicit L2 performance bounds. The formulation yields a nonlinear estimator that operates directly on the governing equations and avoids reliance on local linearizations. Dominant nonlinearities are expressed as structured real uncertainties, while measurement fidelity is represented through range-dependent weighting with Earth-Moon distances reconstructed from line-of-sight geometry. The sensing architecture assumes passive star-tracker-class optical instruments, eliminating the need for time-of-flight ranging or precision clocks. Simulations demonstrate bounded estimation errors and smooth position tracking over multiple orbital periods, with the largest deviations observed in the out-of-plane states, consistent with the stiffness of the vertical dynamics and the limitations of angle-only observability. Application to a Near Rectilinear Halo Orbit (NRHO) illustrates that the framework can achieve robust onboard navigation with bounded estimation errors with flight-representative sensors.