Image processing based horizon sensor for estimating the orientation of sounding rockets, launch vehicles and spacecraft

Abstract

The paper describes how the attitude of a sounding rocket, launch vehicle or satellite with respect to the Earth can be estimated from camera images of the Earth horizon. Details about detecting the horizon in the camera image, fitting hyperbolae or ellipses to the detected horizon curve and deriving the Earth nadir vector and the corresponding error covariance from the fitted conic section are given. The presented method works at low heights, where the projected horizon mostly appears to be hyperbolic, as well as at large heights, where the projected horizon mostly appears to be elliptic and it is irrelevant if the Earth is fully or only partially in the field of view of the camera.