Recent studies highlighted the benefits of a support infrastructure located in Cislunar environment, which would ease the design of forthcoming space missions with a favorable access from and to the lunar surface, the Earth and many interplanetary destinations. Multi-body orbits rose a peculiar interest and were selected to stage a human-robotic exploration outpost; the family of Near Rectilinear Halo Orbits (NRHO), in particular, appears specifically suitable in these regards. Among the different capabilities that such outpost will tend to, the docking with other crewed or autonomous vehicles is a key feature that shall be present. Although low Earth orbit (LEO) rendezvous and docking is well assessed, no mission has performed such task in a multi-body gravitational environment. The paper presents a guidance, navigation and control (GNC) framework for 6 degrees of freedom (6DOF) coupled Cislunar rendezvous and docking. A feasible operational rendezvous scenario is detailed and exploited to define open-loop and closed-loop GNC functions for far-range and close-range. Then, the final approach is analyzed, proposing a closed-loop GNC that encompasses coupled translational-rotational dynamics. Vision-based only relative navigation techniques are applied to Cislunar multi-body dynamics to guarantee a coupled state estimation with a simple suite of sensors and a broad applicability range, ranging from passively cooperative to non-cooperative or unknown target spacecraft.

最近的研究强调了位于Cislunar环境中的支持基础设施的好处，该基础设施将有利于进出月球表面，地球和许多行星际目的地，从而简化即将进行的太空任务的设计。多体轨道引起了人们的特殊兴趣，被选为人类机器人探索基地。在这些方面，特别是近直线光晕轨道（NRHO）家族显得特别合适。在这种前哨基地倾向于发挥的不同能力中，与其他载人或自动驾驶汽车的对接是应具备的一项关键功能。尽管对低地球轨道（LEO）的会合和对接进行了很好的评估，但没有任务在多体重力环境中执行过这样的任务。该文件提出了一个指导，6自由度（6DOF）的导航和控制（GNC）框架结合了Cislunar会合和对接。详细介绍了可行的作战集合场景，并为远距离和近距离定义了开环和闭环GNC功能。然后，对最终方法进行了分析，提出了包含耦合的平移-旋转动力学的闭环GNC。仅基于视觉的相对导航技术应用于Cislunar多体动力学，以确保通过简单的传感器套件和广泛的适用范围（从被动协作到非协作或未知目标航天器）的耦合状态估计。详细介绍了可行的作战集合场景，并为远距离和近距离定义了开环和闭环GNC功能。然后，对最终方法进行了分析，提出了包含耦合的平移-旋转动力学的闭环GNC。仅基于视觉的相对导航技术应用于Cislunar多体动力学，以确保通过简单的传感器套件和广泛的适用范围（从被动协作到非协作或未知目标航天器）的耦合状态估计。详细介绍了可行的作战集合场景，并为远距离和近距离定义了开环和闭环GNC功能。然后，对最终方法进行了分析，提出了包含耦合的平移-旋转动力学的闭环GNC。仅基于视觉的相对导航技术应用于Cislunar多体动力学，以确保通过简单的传感器套件和广泛的适用范围（从被动协作到非协作或未知目标航天器）的耦合状态估计。