# Autonomous Navigation and Station-Keeping on Near-Rectilinear Halo Orbits

arXiv: https://arxiv.org/abs/2512.01182 · HTML: https://mlsanity.com/paper/2512.01182/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Dec 2025.

## Built on by (most cited first, 1 of 1)

- [Transformer-Informed Trajectory Optimization for Relative Motion in Cislunar Orbits](https://mlsanity.com/paper/2609.25460/) (2026)

## Abstract (arXiv)

This article develops an optical navigation (OPNAV) and station-keeping pipeline for the near-rectilinear halo orbit (NRHO) in high-fidelity ephemeris model dynamics, using synthetic images of the Moon in a non-iterative horizon-based OPNAV algorithm, applying the result in a navigation filter, and using the obtained estimates in a station-keeping control scheme that keeps the spacecraft in the vicinity of a reference orbit. We study differential correction-based and minimization-based implementations of the so-called x-axis and propose an improved targeting prediction scheme by incorporating the filter's state covariance with an unscented transform. We also introduce a hysteresis mechanism, which improves stationkeeping cost and provides insight into the difference in performance between the differential correction-based and minimization-based approaches. We perform Monte-Carlo experiments to assess the pipeline's tracking and Delta-V performances. We report several key findings, including the variability of the filter performance with the sensor field of view and measurement locations, station-keeping cost reduction achieved by the unscented transform-based prediction and hysteresis, as well as the variability of the cumulative Delta-V as a function of maneuver location due to the periodic structure in the OPNAV-based filter's estimation accuracy.