Coordinated Localization Method for Cooperative Target Based on Clustered Space Robot System

According to the capability difference among the clustered space robot members, the coordinated localization strategies were proposed in this paper. Firstly, the cluster dynamics was established by state functions, then based on linear Kalman filter theorem, the centralized localization filter was designed. In order to reduce the computation load of the centralized localization filter, the distributed navigation filter was also proposed. Finally the performance of the localization filters was evaluated,the stabilities and accuracies of the coordinated localization strategies were verified by numerical simulations.