Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (1): 172-184.doi: 10.23919/JSEE.2023.000026

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

Optimal maneuvering strategy of spacecraft evasion based on angles-only measurement and observability analysis

Yijie ZHANG1(), Jiongqi WANG1(), Bowen HOU1(), Dayi WANG1,2(), Yuyun CHEN1,3,*()   

  1. 1 College of Liberal Arts and Sciences, National University of Defense Technology, Changsha 410073, China
    2 Beijing Institute of Spacecraft System Engineering, Beijing 100190, China
    3 School of Mathematics and Big Data, Foshan University, Foshan 528000, China
  • Received:2021-10-09 Online:2023-02-18 Published:2023-03-03
  • Contact: Yuyun CHEN;;;;
  • About author:
    ZHANG Yijie was born in 1998. She received her B.S. degree in information and computing sciences from University of Hebei University of Engineering, Handan, China, in 2020. She is studying in the National University of Defense Technology as a postgraduate. Her current research interests include Kalman filter, information fusion, and autonomous navigation. E-mail:

    WANG Jiongqi was born in 1979. He received his B.S. degree in applied mathematics from Zhejiang University, Hangzhou, China, in 2002, and M.S. and Ph.D. degrees in system science from National University of Defense Technology, in 2004 and 2008, respectively. He is a professor in the College of Liberal Arts and Sciences, National University of Defense Technology, Changsha, China. His research interests include measurement data analysis, parameter estimation, system identification, and space target state filter and its applications. E-mail:

    HOU Bowen was born in 1995. He received his M.S. degree in system science from National University of Defense Technology, Changsha, China, in 2018. He is studying there as a doctoral student. His current research interests include Kalman filter, signal processing, and integrated navigation. E-mail:

    WANG Dayi was born in 1973. He received his Ph.D. degree in aerospace engineering from Harbin Institute of Technology in 2003. From 2003 to 2015, he was a researcher with Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology. From 2011 to 2015, he was the deputy director of the State Key Laboratory of Spatial Intelligent Control Technology. His research interest is spacecraft autonomous navigation. E-mail:

    CHEN Yuyun was born in 1979. She received her B.S., M.S., and Ph.D. degrees in applied mathematics from National University of Defense Technology, Changsha, China, in 2002, 2004, and 2017, respectively. She is a professor in School of Mathemtics and Big Data, Foshan University. Her main research interests include data analysis, nonlinear filter, and parameter estimation. E-mail:
  • Supported by:
    This work was supported by the National Key R&D Program of China (2020YFA0713502), the Special Fund Project for Guiding Local Scientific and Technological Development (2020ZYT003), the National Natural Science Foundation of China (U20B2055;61773021;61903086), and the Natural Science Foundation of Hunan Province (2019JJ20018;2020JJ4280).


Spacecraft orbit evasion is an effective method to ensure space safety. In the spacecraft’s orbital plane, the space non-cooperate target with autonomous approaching to the spacecraft may have a dangerous rendezvous. To deal with this problem, an optimal maneuvering strategy based on the relative navigation observability degree is proposed with angles-only measurements. A maneuver evasion relative navigation model in the spacecraft’s orbital plane is constructed and the observabi-lity measurement criteria with process noise and measurement noise are defined based on the posterior Cramer-Rao lower bound. Further, the optimal maneuver evasion strategy in spacecraft’s orbital plane based on the observability is proposed. The strategy provides a new idea for spacecraft to evade safety threats autonomously. Compared with the spacecraft evasion problem based on the absolute navigation, more accurate evasion results can be obtained. The simulation indicates that this optimal strategy can weaken the system’s observability and reduce the state estimation accuracy of the non-cooperative target, making it impossible for the non-cooperative target to accurately approach the spacecraft.

Key words: rendezvous evasion, orbit maneuver, angles-only measurement, observability degree, posterior Cramer-Rao lower bound