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This paper demonstrates an algorithmic framework for autonomous, distributed navigation and timekeeping for spacecraft swarms and constellations using angles-only measurements from onboard cameras. Angles-only methods are compelling as they reduce reliance on external measurement sources. However, prior flight demonstrations have faced limitations, including 1) inability to treat multi-agent space systems including multiple observers and targets in an accurate and timely manner, 2) lack of autonomy and reliance on external state information, and 3) treatment of primarily Earth-orbiting scenarios. The Absolute and Relative Trajectory Measurement System (ARTMS) discussed in this paper overcomes these challenges to enable future lunar missions. It consists of three novel algorithms: 1) Image Processing, which tracks and identifies targets in images and computes their bearing angles; 2) Batch Orbit …