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This paper presents a star-tracking algorithm to determine the accurate global orientation of autonomous platforms such as nano satellites, U A V s, and micro-drones using commercial-off-the-shelf ( C O T S ) mobile devices such as smartphones. Such star-tracking is especially challenging because it is based on existing cameras which capture a partial view of the sky and should work continuously and autonomously. The novelty of the proposed framework lies both in the computational efficiencydoi:10.3390/s20041106 pmid:32085598 pmcid:PMC7070887 fatcat:mnb27ctrzrefnatzi4agnkqydi