Large spacecraft represent a large investment of time and money, and are often risky ventures. The ability to visually inspect craft provides operators and engineers valuable information about on-orbit failures or salvagability. To minimize the risk of damage to the large craft, initial inspection maneuvers should be designed to maintain a safe observation distance. This paper discusses the design of such an inspection maneuver using range measurements that are directly applicable to stereo vision and are supplemented with gyroscope data to determine distance and rates in a relative frame. Using the SPHERES satellite testbed, the ultrasonic measurement system is used in place of vision hardware to test the vision-navigation algorithm in a microgravity environment. The paper discusses the error characteristics of the system and develops the control framework for the inspection maneuver. The implementation of the algorithm in simulation is compared with test results from the SPHERES satellites onboard the International Space Station.