A satellite formation flying approach providing both positioning and tracking

A magnetic field approach is presented whereby a large number of closely located satellites can be positioned and oriented relative to each other, but can also be tracked in six degrees of freedom. This is accomplished by using frequency-multiplexed magnetic fields where coils are placed on each satellite to allow them to generate magnetic fields, to interact with the magnetic fields from other satellites, and to sample the surrounding magnetic fields. By doing this, a satellite can choose which alternating field to push or pull against, to provide torque about, or to sample in order to determine its location and orientation relative to the other satellites. Theory is provided demonstrating the capability of this approach along with its advantages and limitations. An experimental system allowing 3 degrees-of-freedom was constructed and used to demonstrate a feedback and control system where a satellite is told to move to a location and it does this by interacting with the surrounding satellites to both generate forces and torques and to track its position and orientation.