Rendezvous with and Capture / Removal of Non-Cooperative Bodies in Orbit

Fehse, Wigbert

doi:10.1016/s2468-8967(16)30068-4

Cited by 13 publications

(6 citation statements)

References 3 publications

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“…First, the columns of the state covariance matrix (P) are used to construct the so-called sigma-points ( χ), i.e., a set of state vectors chosen so that their sample mean and sample covariance are equal to the mean and covariance of the current state. They can be computed as shown in (8),…”

Section: Unscented Kalman Filtermentioning

confidence: 99%

“…This paper focuses on the relative navigation task. Indeed, the development of robust and reliable solutions to estimate the target-chaser relative state (including position, velocity, attitude and angular velocity) in real-time and with high accuracy is not only crucial to meet strict safety criteria [8], but it can also allow relaxing control requirements (and, consequently, mission costs). Due to the uncooperative nature of the target, relative navigation must be entrusted to active or passive Electro-Optical (EO) sensors [9].…”

Section: Introductionmentioning

confidence: 99%

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Uncooperative Spacecraft Relative Navigation With LIDAR-Based Unscented Kalman Filter

Opromolla

Nocerino

2019

IEEE Access

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Autonomous relative navigation is a critical functionality which needs to be developed to enable safe maneuvers of a servicing spacecraft (chaser) in close-proximity with respect to an uncooperative space target, in the frame of future On-Orbit Servicing or Active Debris Removal missions. Due to the uncooperative nature of the target, in these scenarios, relative navigation is carried out exploiting active or passive Electro-Optical sensors mounted on board the chaser. The focus here is placed on active systems, e.g., LIDARs. In this paper, an original loosely-coupled relative navigation architecture which integrates pose determination algorithms designed to process raw LIDAR data (i.e., 3D point clouds) within a Kalman filtering scheme is presented. Pose determination algorithms play a twofold role being used to initialize the filter state and covariance as well as in the update phase of the Kalman filter. The proposed filtering scheme is an Unscented Kalman Filter designed to use, as measurements for the update phase, relative position, attitude and angular velocity estimates. Performance assessment is carried out within a simulation environment realistically reproducing the operation of a scanning LIDAR and the relative motion between two spacecraft during a target monitoring maneuver. The numerical simulation campaign demonstrates robustness of the proposed approach even when dealing with challenging conditions (e.g., low range measurement accuracy, low update rate and high point-cloud sparseness) determined by the LIDAR noise level and operational parameters.

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Section: Unscented Kalman Filtermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Uncooperative Spacecraft Relative Navigation With LIDAR-Based Unscented Kalman Filter

Opromolla

Nocerino

2019

IEEE Access

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“…Compared to cooperative rendezvous, where both the chasing and target satellite cooperatively share information about their mutual positions, the relative navigation task during non-cooperative rendezvous appears to be more complex and critical, because it needs to be carried out only by the chaser satellite only. Only a few non-cooperative rendezvous were performed to date, mainly because of the risk of collisions and the technical performance of space-qualified relative navigation sensors [3] [4]. Such kind of issues become even more challenging when the non-cooperative rendezvous tasks need to be accomplished by small-sized satellites, where the selection of the relative navigation hardware becomes the key driver for the overall spacecraft and mission design.…”

Section: Introductionmentioning

confidence: 99%

Multi-Disciplinary Design Optimization for Relative Navigation in Non-cooperative Rendezvous

Rappasse

Merlinge

Agez

et al. 2021

2021 IEEE Aerospace Conference (50100)

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On-orbit applications, such as active debris removal, satellite refueling, maintenance and satellite health diagnosis require the ability for low-cost spacecraft to closely inspect other orbital objects in a non-cooperative manner. During this kind of mission, the relative navigation process becomes of critical importance for guaranteeing safe and collision-free proximity operations and maneuvers. The selection of relative navigation sensors appears being a critical task as it might drive the design choices in other subsystems (e.g., Attitude and orbit control system (AOCS), payload, power supply). This paper aims at studying the application of a Multidisciplinary Design Optimization (MDO) method to the design of AOCS and Navigation subsystems under small satellite constraints. The porposed MDO process is based on the optimization of navigation performance and mass reduction while respecting volume and power constraints for orbital close rendezvous. The navigation chain, including sensor simulation and navigation filter is simulated and integrated into the design cost function. The proposed MDO process based on a Genetic Algorithm (GA) and on an Extended Kalman Filter (EKF) aims at simplifying satellite design by determining a set of optimal admissible sensor combinations despite contradictory objectives on navigation and payload accuracy, mass reduction, power consumption and volume. Possible key advantages of the inclusion of the relative navigation subsystem within MDO process are the reduction of the design process time, the automation and optimization of the navigation architecture while respecting volume and power constraints of small satellites. A demonstration of the effectiveness of the proposed MDO method is provided on the benchmark of AVANTI mission.

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“…The removal of malfunctioned satellites has become increasingly more urgent because the growing amount of non-controlled satellites pose an increasing threat of collision with on-orbit spacecraft [1], [2]. Space robotics is considered one of the most promising approaches for orbital debris removal.…”

Section: Introductionmentioning

confidence: 99%

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

et al. 2019

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A space manipulator needs to exhibit high stiffness for tracking, and good compliance for capturing a tumbling satellite. However, the elasticity caused by harmonic drives challenges both the highprecision motion and the flexibility of the manipulator. In this paper, we propose a novel control method based on a robust torque-tracking controller to eliminate the unexpected vibration resulting from elasticity and reject the perturbation caused by nonlinear friction of the motor. In order to achieve the high-precision motion of the manipulator with uncertain dynamics, we combined the method with an improved adaptive method. The position-based impedance control, taking both the translational and rotational impedance into account, is added to achieve the soft-capture of a tumbling satellite. The stability of the proposed method has been strictly proven by the Lyapunov method. The space manipulator is mounted on a controlled chaser, forming a free-flying space robot. A loose coordinated control between the chaser and the manipulator is adopted in the task simulation. The simulations for verifying controller performance and the task simulation reveal that the manipulator has high-precision motion performance in the pre-capture phase, achieves soft-capture in the capturing phase and offers a reliable connection between the chaser and the target in the de-tumbling phase. INDEX TERMS Flexible-joint manipulator, capture of tumbling satellite, robust and adaptive control, free-flying space robot.

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Rendezvous with and Capture / Removal of Non-Cooperative Bodies in Orbit

Cited by 13 publications

References 3 publications

Uncooperative Spacecraft Relative Navigation With LIDAR-Based Unscented Kalman Filter

Uncooperative Spacecraft Relative Navigation With LIDAR-Based Unscented Kalman Filter

Multi-Disciplinary Design Optimization for Relative Navigation in Non-cooperative Rendezvous

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

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