GNSS-based Lunar Orbit and Clock Estimation With Stochastic Cloning UD Filter
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866912912619077632 |
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| author | Iiyama, Keidai Gao, Grace |
| author_facet | Iiyama, Keidai Gao, Grace |
| contents | This paper presents a terrestrial GNSS-based orbit and clock estimation framework for lunar navigation satellites. To enable high-precision estimation under the low-observability conditions encountered at lunar distances, we develop a stochastic-cloning UD-factorized filter and delayed-state smoother that provide enhanced numerical stability when processing precise time-differenced carrier phase (TDCP) measurements. A comprehensive dynamics and measurement model is formulated, explicitly accounting for relativistic coupling between orbital and clock states, lunar time-scale transformations, and signal propagation delays including ionospheric, plasmaspheric, and Shapiro effects. The proposed approach is evaluated using high-fidelity Monte-Carlo simulations incorporating realistic multi-constellation GNSS geometry, broadcast ephemeris errors, lunar satellite dynamics, and ionospheric and plasmaspheric delay computed from empirical electron density models. Simulation results demonstrate that combining ionosphere-free pseudorange and TDCP measurements achieves meter-level orbit accuracy and sub-millimeter-per-second velocity accuracy, satisfying the stringent signal-in-space error requirements of future Lunar Augmented Navigation Services (LANS). |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2601_16393 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | GNSS-based Lunar Orbit and Clock Estimation With Stochastic Cloning UD Filter Iiyama, Keidai Gao, Grace Robotics This paper presents a terrestrial GNSS-based orbit and clock estimation framework for lunar navigation satellites. To enable high-precision estimation under the low-observability conditions encountered at lunar distances, we develop a stochastic-cloning UD-factorized filter and delayed-state smoother that provide enhanced numerical stability when processing precise time-differenced carrier phase (TDCP) measurements. A comprehensive dynamics and measurement model is formulated, explicitly accounting for relativistic coupling between orbital and clock states, lunar time-scale transformations, and signal propagation delays including ionospheric, plasmaspheric, and Shapiro effects. The proposed approach is evaluated using high-fidelity Monte-Carlo simulations incorporating realistic multi-constellation GNSS geometry, broadcast ephemeris errors, lunar satellite dynamics, and ionospheric and plasmaspheric delay computed from empirical electron density models. Simulation results demonstrate that combining ionosphere-free pseudorange and TDCP measurements achieves meter-level orbit accuracy and sub-millimeter-per-second velocity accuracy, satisfying the stringent signal-in-space error requirements of future Lunar Augmented Navigation Services (LANS). |
| title | GNSS-based Lunar Orbit and Clock Estimation With Stochastic Cloning UD Filter |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.16393 |