End-to-end simulation and verification of GNC and robotic systems considering both space segment and ground segment

Benninghoff, Heike; Rems, Florian; Risse, Eicke-Alexander; Brunner, Bernhard; Stelzer, Martin; Krenn, Rainer; Reiner, Matthias; Stangl, Christian; Gnat, Marcin

doi:10.1007/s12567-017-0192-2

Cited by 6 publications

(2 citation statements)

References 25 publications

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“…This console supports two modes: autonomous grasping and operator in the loop. In the latter case, an operator in the control room uses a haptic feedback device to move the robot in space in real time [23,57]. As mentioned above, EPOS 2.0 serves as the rendezvous simulator for the rendezvous GNC system developed by the OOS-Group.…”

Section: Advanced Rendezvous Research In Dlr's Oos-e2e Project 81 Oos-e2e and Epos 20mentioning

confidence: 99%

10-Year Anniversary of the European Proximity Operations Simulator 2.0—Looking Back at Test Campaigns, Rendezvous Research and Facility Improvements

et al. 2021

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Completed in 2009, the European Proximity Operations Simulator 2.0 (EPOS 2.0) succeeded EPOS 1.0 at the German Space Operations Center (GSOC). One of the many contributions the old EPOS 1.0 facility made to spaceflight rendezvous is the verification of the Jena-Optronik laser-based sensors used by the Automated Transfer Vehicle. While EPOS 2.0 builds upon its heritage, it is a completely new design aiming at considerably more complex rendezvous scenarios. During the last ten years, GSOC’s On-Orbit-Servicing & Autonomy group, who operates, maintains and evolves EPOS 2.0, has made numerous contributions to the field of uncooperative rendezvous, using EPOS as its primary tool. After general research in optical navigation in the early 2010s, the OOS group took a leading role in the DLR project “On-Orbit-Servicing End-to-End Simulation” in 2014. EPOS 2.0 served as the hardware in the loop simulator of the rendezvous phase and contributed substantially to the project’s remarkable success. Over the years, E2E has revealed demanding requirements, leading to numerous facility improvements and extensions. In addition to the OOS group’s research work, numerous and diverse open-loop test campaigns for industry and internal (DLR) customers have shaped the capabilities of EPOS 2.0 significantly.

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Section: Advanced Rendezvous Research In Dlr's Oos-e2e Project 81 Oos-e2e and Epos 20mentioning

confidence: 99%

10-Year Anniversary of the European Proximity Operations Simulator 2.0—Looking Back at Test Campaigns, Rendezvous Research and Facility Improvements

et al. 2021

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“…Without a robust Guidance Navigation and Control system (GNC) [ 29 ], an autonomous rendezvous cannot be achieved. Currently, an advanced GNC system is being developed at DLR within the Rendezvous, Inspection, Capture, Detumbling for Orbital Servicing (RICADOS) project [ 4 , 30 , 31 ]. The hardware-in-the-loop (HIL) simulation allows one to test approach trajectories, visual optical sensors and image processing algorithms in real time on the ground with different illumination conditions.…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-Loop Simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors

Klionovska

Burri

2021

Sensors

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This paper addresses the validation of a robust vision-based pose estimation technique using a Photonic Mixer Device (PMD) sensor as a single visual sensor in the close-range phase of spacecraft rendezvous. First, it was necessary to integrate the developed hybrid navigation technique for the PMD sensor into the hardware-in-the-loop (HIL) rendezvous system developed by the German Aerospace Center (DLR). Thereafter, HIL tests were conducted using the European Proximity Operation Simulator (EPOS) with sun simulation and in total darkness. For the future missions with an active sensor, e.g., a PMD camera, it could be useful to use only its own illumination during the rendezvous phase in penumbra or umbra, instead of additional flash light. In some tests, the rotational rate of the target object was also tuned. Unlike the rendezvous tests in other works, here we present for the first time closed-loop approaches with only depth and amplitude images of a PMD sensor. For the rendezvous tests in the EPOS laboratory, the Argos3D camera was used at the range of 8 to 5.5 meters; the performance showed promising results.

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Operations of On-Orbit Servicing Missions

Sellmaier

Frei

2022

Spacecraft Operations

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End-to-end simulation and verification of GNC and robotic systems considering both space segment and ground segment

Cited by 6 publications

References 25 publications

10-Year Anniversary of the European Proximity Operations Simulator 2.0—Looking Back at Test Campaigns, Rendezvous Research and Facility Improvements

10-Year Anniversary of the European Proximity Operations Simulator 2.0—Looking Back at Test Campaigns, Rendezvous Research and Facility Improvements

Hardware-in-the-Loop Simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors

Operations of On-Orbit Servicing Missions

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