Simultaneous Estimation of Attitude Motion and Inertia Properties for Debris Removal

Recent debris removal inevitably relies heavily on the motion estimation of the target debris, i.e., an uncooperated body. Reliable and robust capture during proximity operation is key for debris removal. This paper first provides an innovative strategy, contactless and multiple debris removal in a single flight, as an introduction to show the context behind it. This study presents a new method for the direct estimation of both dynamic attitude motion and inertia properties, excluding reliance on a priori information. The authors have so far presented a fraction of the simulation results without describing the mathematical process in detail. This paper, for the first time, provides a concrete description of the proposed method.