In certain observation periods of navigation missions for the Taiji formation, ground observation stations are unable to observe the spacecraft, while the state of the spacecraft can be estimated through the utilization of dynamic equations simulated on prior knowledge. However, this method cannot accurately track the spacecraft. In this paper, we focus on appropriately selecting the available onboard measurement to estimate the state of the spacecraft of the Taiji formation. We design two schemes to explore the performance of the state estimation based on the interspacecraft interferometry measurements and the measurements obtained from the Sun sensor and the radial velocity sensor. The observability of the system is numerically analyzed using the singular value decomposition method. Furthermore, we analyze error covariance propagation using the cubature Kalman filter. The results show that using high-precision interspacecraft angle measurement can improve significantly the observability of the system. The absolute position and velocity of the spacecraft can be estimated respectively with an accuracy of about 3.1 km and 0.14 m/s in the first scheme, where the prior information of the precision of the position and velocity is respectively 100 km and 1 m/s. When the measurement from the radial velocity sensor is used in the second scheme, the estimation accuracy of the velocity can be improved about 18 times better than that in the first scheme.
Keywords: autonomous state estimation; cubature Kalman filter; observability analysis; space-based gravitational wave detection formation.