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A Tutorial on Horizon-Based Optical Navigation and Attitude Determination With Space Imaging Systems
Images of a nearby celestial body collected by a camera on an exploration spacecraft contain a wealth of actionable information. This work considers how the apparent location of the observed body's horizon in a digital image may be used to infer the relative position, attitude, or both. When the celestial body is a sphere, spheroid, or ellipsoid (as is the case for most large bodies in the Solar System), the projected horizon in an image is a conic-usually an ellipse at large distances and adoi:10.1109/access.2021.3051914 fatcat:t7bro6kklvgjdmsjhj4dutk2im