GNSS relative navigation for operations in cislunar space

This paper investigates the performance of the forthcoming lunar navigation satellite systems for estimating not only the position of an onboard receiver in a lunar inertial reference frame, but also, and with a consistent accuracy, the relative position between two or more spacecraft in proximity. This could be the case of two spacecraft performing a rendezvous, of a lander released by an orbiter or the case of the permanent relative navigation service for a formation of satellites around the Moon. A cascade Kalman filter is implemented and the performance in terms of error statistics are shown for different mission profiles.