This study introduces and verifies a relative navigation technique for two CubeSats in formation flying as part of the CANYVAL-C mission. Because the mission requires precision and robustness subject to restricted computational complexity, the technique employs an Extended Kalman Filter (EKF) and raw GNSS data to achieve relative navigation. The relative navigation technique is composed of two parts: parameter-tuning using an Adaptive Kalman Filter (AKF) in a ground station, and the application of the adaptively determined parameters to allow onboard EKF. Based on Hardware-in-the-Loop Simulations (HILS), the relative positioning error of the EKF with adaptively determined parameters ranged from 10 to 20 cm on each axis (3σ) and satisfied the mission requirement of 1 m. The simulations confirm that the technique yields reliable relative navigation and a realistic error covariance without imposing a computational burden on the CubeSat, as well as reduces the time required for parameter tuning.

中文翻译：

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用于编队飞行 CubeSat 任务的受约束 GNSS 数据的相对导航技术，CANYVAL-C

本研究介绍并验证了作为 CANYVAL-C 任务一部分的两颗立方体卫星编队飞行的相对导航技术。由于任务要求精度和稳健性受限于有限的计算复杂性，因此该技术采用扩展卡尔曼滤波器 (EKF) 和原始 GNSS 数据来实现相对导航。相对导航技术由两部分组成：在地面站中使用自适应卡尔曼滤波器 (AKF) 进行参数调整，以及应用自适应确定的参数以允许机载 EKF。基于硬件在环仿真 (HILS)，自适应确定参数的 EKF 相对定位误差在每个轴上的范围为 10 至 20 cm (3σ)，满足 1 m 的任务要求。