Accurate and autonomous navigation for the ATV

Pinard, Didier; Reynaud, S.; Delpy, Patrick; Strandmoe, S.

doi:10.1016/j.ast.2007.02.009

Cited by 51 publications

(13 citation statements)

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“…Figure 11 shows the target angular rate and the chaser successfully tracks the target's attitude rate for 1,000 seconds. The chaser pitch rror and approach and 7 were used to (shown in Table 2) executed the final racking error, which d to the docking port t condition (less than along each direction, m/s and satisfied the velocity conditions ith the target along onded to an azimuth cking port geometry r of mass, the target (Pinard et al, 2007) center of mass, the docking port location was not located precisely along the V-bar direction. The actual azimuth angle was 93 degrees.…”

Section: Numerical Results and Analysismentioning

confidence: 99%

“…Semi-autonomous operations and visual inspection in close proximity of an object in space were demonstrated. The automated transfer vehicle (ATV) (Fabrega et al, 1996;Gonnaud and Pascal, 1999;Pinard et al, 2007) is an expendable, unmanned resupply spacecraft developed by the European Space Agency (ESA). The ATV program is designed to perform automated phasing, approach, rendezvous and docking to the ISS, followed by departure and deorbit maneuverings.…”

Section: Overall Proximity Operations Strategymentioning

confidence: 99%

“…This volume can be entered only through one of the approach and departure corridors. No vehicle is allowed to penetrate this space except through the circular cone (Pinard et al, 2007).…”

mentioning

confidence: 99%

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Integrated System for Autonomous Proximity Operations and Docking

Lee¹,

Pernicka²

2011

International Journal of Aeronautical and Space Sciences

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Autonomous rendezvous and docking are important technologies for current and future space programs, including missions such as supply and repair to the International Space Station (ISS) and the exploration of the moon, Mars, and beyond. Proximity operations and docking require extremely delicate and precise translational and rotational maneuverings. During the final approach of the proximity operations phase, the relative position, velocity, attitude and angular rates between the target and the chaser spacecraft must be precisely controlled in order to obtain the required docking interface conditions. As a consequence, precise relative position, velocity and attitude state estimations are required. The first spacecraft rendezvous and docking dates back to the manned US Gemini and Apollo programs (Zimpfer et al., 2005) AbstractAn integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the statedependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A sixdegree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

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Section: Numerical Results and Analysismentioning

confidence: 99%

Section: Overall Proximity Operations Strategymentioning

confidence: 99%

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Integrated System for Autonomous Proximity Operations and Docking

Lee¹,

Pernicka²

2011

International Journal of Aeronautical and Space Sciences

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“…These proposed and experimentally tested optimizationbased guidance and control approaches contrast with the ones used on operational spacecraft. Historically, chaser spacecraft have conducted V-bar or R-bar approaches that are either manually piloted [24,25] or controlled by a proportional-integral-derivative or H-infinity controller tracking a pre-defined straight-line (or quasi-straight) trajectory [26,27]. For a historical review on the guidance and control algorithms used in spacecraft rendezvous and proximity operations refer to [28,29].…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers

et al. 2017

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Ground-based experimental evaluations of emerging guidance, navigation, and control (GNC) approaches may be used to raise their technological readiness level and determine their performance and limitations on flight-equivalent hardware (i.e., sensors, actuators, and computational systems) [2].An experimental campaign to evaluate the performance of the model predictive control (MPC) and inverse dynamics in the virtual domain (IDVD) guidance methods has been performed at the Naval Postgraduate School POSEI-DYN 1 air-bearing test bed [4]. The focus of this research is limited in scope to the guidance and control of the simulated spacecraft. The navigation problem is solved by the POSEIDYN test bed motion capture system, which, augmented by onboard sensors, is used to provide accurate navigation data. The test vehicles operating in the POSEI-DYN test bed float on top of a 4-by-4 m granite table and exhibit a drag-free and weightless motion on a plane [4]. These test vehicles are referred to as floating spacecraft simulators, or simply as FSS.A spacecraft docking problem is selected for the experimental evaluation of these two different control approaches. A keep-out zone, an entry cone, and a maximum force constraint are added to the docking scenario to evaluate the constraint handling abilities of the two different controllers. A linear-quadratic MPC (LQ-MPC) algorithm with a quadratic programming (QP) solver and an IDVD algorithm with a nonlinear programming (NLP) solver have been chosen for this comparative study. These two controllers have been implemented and, when executed in real-time on board the FSS, they are successful in 1 POSEIDYN stands for Proximity Operation of Spacecraft: Experimental hardware-In-the-loop DYNamic simulator Abstract An experimental campaign has been conducted to evaluate the performance of two different guidance and control algorithms on a multi-constrained docking maneuver. The evaluated algorithms are model predictive control (MPC) and inverse dynamics in the virtual domain (IDVD). A linear-quadratic approach with a quadratic programming solver is used for the MPC approach. A nonconvex optimization problem results from the IDVD approach, and a nonlinear programming solver is used. The docking scenario is constrained by the presence of a keep-out zone, an entry cone, and by the chaser's maximum actuation level. The performance metrics for the experiments and numerical simulations include the required control effort and time to dock. The experiments have been conducted in a groundbased air-bearing test bed, using spacecraft simulators that float over a granite table.Keywords Rendezvous and proximity operations · Model predictive control · Inverse dynamics · Hardware-in-theloop

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“…The ATV docking mission to the ISS is an example of a real application involving visual navigation techniques using cameras [1][2][3]. In particular, the ISS is equipped with optical targets of known shape, which make it easier to estimate the relative attitude between them and the ATV.…”

Section: Introductionmentioning

confidence: 99%

Pose and Shape Reconstruction of a Noncooperative Spacecraft Using Camera and Range Measurements

Volpe

Sabatini

Palmerini

2017

International Journal of Aerospace Engineering

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Recent interest in on-orbit proximity operations has pushed towards the development of autonomous GNC strategies. In this sense, optical navigation enables a wide variety of possibilities as it can provide information not only about the kinematic state but also about the shape of the observed object. Various mission architectures have been either tested in space or studied on Earth. The present study deals with on-orbit relative pose and shape estimation with the use of a monocular camera and a distance sensor. The goal is to develop a filter which estimates an observed satellite's relative position, velocity, attitude, and angular velocity, along with its shape, with the measurements obtained by a camera and a distance sensor mounted on board a chaser which is on a relative trajectory around the target. The filter's efficiency is proved with a simulation on a virtual target object. The results of the simulation, even though relevant to a simplified scenario, show that the estimation process is successful and can be considered a promising strategy for a correct and safe docking maneuver.

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Accurate and autonomous navigation for the ATV

Cited by 51 publications

References 1 publication

Integrated System for Autonomous Proximity Operations and Docking

Integrated System for Autonomous Proximity Operations and Docking

Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers

Pose and Shape Reconstruction of a Noncooperative Spacecraft Using Camera and Range Measurements

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