Autonomous navigation system for free floating experiments in parabolic flights

This paper presents the development of an Extended Kalman Filter for the navigation system of a spacecraft in a parabolic flight. The algorithm blends the measurements coming from two Inertia Measurement Units, one mounted on the spacecraft and one on the baseplate of the aircraft; and a camera system connected to the baseplate as well. During the zero-g phases the attitude and position of the spacecraft in the experimental area are recovered thanks to a series of Alvar markers attached on the spacecraft casing and detected by the camera system. Results from parabolic test campaign of October 2019 are finally presented.