Consensus-Based Distributed Filtering for Angles-Only Tracking in Cislunar Space

This paper investigates consensus-based distributed filtering strategies for multi-observer angles-only navigation in the cislunar space. The objective is to estimate the inertial state of a target spacecraft using only line-of-sight measurements collected by a network of observer spacecraft. This problem is particularly relevant for autonomous cislunar navigation, where ground support may be limited, and centralized fusion architectures may be problematic due to communication and computational constraints, and single-point failure risks. Three distributed filtering approaches are considered: the Distributed Extended Kalman Filter, the Information-Weighted Consensus Filter, and the Kalman Consensus Filter. All methods share the same local prediction and measurement-processing steps, but differ in the way information is exchanged and fused across the network. Their performance is evaluated and compared to a centralized Extended Kalman Filter, adopted as benchmark, and independent local filters in a high-fidelity cislunar scenario. Numerical simulations show that the distributed approaches significantly improve estimation accuracy with respect to independent filters. Monte Carlo sensitivity analyses are then conducted to characterize the robustness of the considered methods to finite consensus iterations and prior misalignment among the agents.