Onboard Maneuver Planning for the Autonomous Vision Approach Navigation and Target Identification (AVANTI) experiment within the DLR FireBird mission G. Gaias , DLR/GSOC/Space Flight Technology Department Workshop on Advances in Space Rendezvous Guidance Slide1 Toulouse > 2013/10/31
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Onboard Maneuver Planning for theAutonomous Vision Approach Navigation andTarget Identification (AVANTI) experimentwithin the DLR FireBird mission
G. Gaias, DLR/GSOC/Space Flight Technology Department
Workshop on Advances in Space Rendezvous Guidance
Slide1Toulouse > 2013/10/31
Contents
Overview of the AVANTI experiment
Overall Concept of the MAneuver Planner (MAP)
The Guidance Problem
The Computation of the Maneuvers
Example of a Rendezvous
Conclusions and Current Development Status
Slide 2Toulouse > 2013/10/31
Contents
Overview of the AVANTI experiment
Overall Concept of the MAneuver Planner (MAP)
The Guidance Problem
The Computation of the Maneuvers
Example of a Rendezvous
Conclusions and Current Development Status
Slide 3Toulouse > 2013/10/31
The FireBird Mission
∠
DLR Scientific Mission, based on BIRD-TET s/c bus
∠
Expected launch: late 2014/early 2015
∠
Orbit: Sun-synchronous, altitude 500-600 km
∠
Primary Objective: Earth observation, fire detection (infrared camera)∠
Secondary Objectives: several scientific experiments
∠
Autonomous Vision Approach Navigation and Target Identification(AVANTI)
∠
demonstration of autonomous rendezvous to (and departure from)non-cooperative client using vision-based navigation
∠
1 month of experiment campaign after in-orbit injection of a Picosat
Slide 4Toulouse > 2013/10/31
AVANTI motivations
∠
AVANTI is motivated by the following needs
∠
approach, identify, rendezvous with a
∠
non-cooperative, passive client
∠
from large distances (e.g., > 10 km)
∠
in an autonomous, fuel efficient, safe manner∠
Angles-only navigation is an attractive solution
∠
low cost sensors (e.g., optical, infrared)
∠
star trackers often onboard (e.g., Biros!)
∠
simplicity, robustness, wide range
∠
but maneuvers are needed to reconstruct the relativestate
linearized-unperturbedrelative motionunobservable
without maneuvers
Slide 5Toulouse > 2013/10/31
AVANTI key functionalities
∠
Key functions to be proven
∠
handover from ground-operations to autonomous vision-based navigation &control
∠
onboard processing of camera images and target identification
∠real-time relative navigation based on Line-Of-Sight (LOS) info
∠
autonomous maneuver planning to accomplish a rendezvous (RdV)
∠
Key performance to be proven
∠
LOS residuals below 40 arcsecs (half camera pixel size)
∠
relative orbit determination accuracy at 10% of range to client
∠
safe rendezvous operations between ±10 km and ±100 m
Slide 6Toulouse > 2013/10/31
Background
∠
August 2011, PRISMA - handover to OHB: Formation Re-Acquisition
∠
ground-in-the-loop, TLE + prototype of angles-only relative navigation filter
∠
April 2012, PRISMA - extended mission phase: ARGONAdvanced Rendezvous Demonstration using GPS and Optical Navigation
Multiple (finite number) feasible solutions: one selected according to1. preference to minor delta-v cost2. preference to wider spacing between burns
Slide 23Toulouse > 2013/10/31
Contents
Overview of the AVANTI experiment
Overall Concept of the MAneuver Planner (MAP)
The Guidance Problem
The Computation of the Maneuvers
Example of a Rendezvous
Conclusions and Current Development Status
Slide 24Toulouse > 2013/10/31
Safety concept: ROE movement due to local control
Out-of-plane control In-plane control
optimal / sub-optimal
Slide 25Toulouse > 2013/10/31
Safety concept: ROE movement due guidance
∠
passive safety related to φ = ϕ− θ
∠keep (anti) parallel δe/δi during RdV
∠
guidance to minimize the total ∆ROE
∠
Pi distribute along the direction ofROE total variation
Slide 26Toulouse > 2013/10/31
Example of a Rendezvous - 1
∠
Scenario
∠
500 km high, inclination 98 deg
∠
Btarget: 0.01 m2/kg
∠∆B/B: 2%
∠
Input to MAP
∠
P0 = [5, 10000, −50, −250, −30, 200] m
∠
PF = [0, 3000, 0, −100, 0, 100] m
∠
tF: 18 orbits after t0
∠
time constraints
∠
mode: max-observability
−400−200
0200
400
0
5000
10000
15000−400
−200
0
200
400
radial [m]along−track [m]
norm
al [m
]−1 1
−1
1
Normalized δe/δi plane
0 2 4 6 8 10 12 14 16 18 20−0.04
−0.02
0
0.02
0.04Total delta−v: 0.2168 [m/s]
time [orbital periods]
de
lta
−v, δv
t δv
n [
m/s
]
Slide 27Toulouse > 2013/10/31
Example of a Rendezvous - 2
Relative eccentricity andinclination vectors
Drift and mean relative longitudeover time
−300 −200 −100 0 100 200 300−300
−200
−100
0
100
200
300
aδex aδi
x [m]
aδe
y a
δi y
[m
]
start
target
0 2 4 6 8 10 12 14 16 18 20−20
0
20
40
60
80
time [orbital periods]
aδa [m
]
0 2 4 6 8 10 12 14 16 18 202000
4000
6000
8000
10000
12000
time [orbital periods]
aδλ [m
]
Slide 28Toulouse > 2013/10/31
Contents
Overview of the AVANTI experiment
Overall Concept of the MAneuver Planner (MAP)
The Guidance Problem
The Computation of the Maneuvers
Example of a Rendezvous
Conclusions and Current Development Status
Slide 29Toulouse > 2013/10/31
Conclusions and current development status
∠
Impulsive MAaneuvers Planner for formation reconfigurations and rendezvousfor the AVANTI experiment (DLR/FireBird mission)
∠
experiment operational conditions (onboard functioning, space segmentrequirements, ...)
∠
design concept (simplicity and determinism)
∠provided an example of the MAP output
∠
Current work
∠
flight software implementation
∠
performance assessment in realistic simulation environment
∠
Future work
∠
design of the AVANTI experiment campaign
Slide 30Toulouse > 2013/10/31
∠
ROE parameterization and safety concept
D’Amico, S., “Autonomous Formation Flying in Low Earth Orbit,” Ph.D. Dissertation,Technical University of Delft, The Netherlands, 2010.
D’Amico, S., and Montenbruck, O., “Proximity Operations of Formation FlyingSpacecraft using an Eccentricity/Inclination Vector Separation,” Journal of Guidance,Control, and Dynamics, Vol. 29, No. 3, 2006, pp. 554–563.
∠
ARGON development and flight results
Gaias, G., D’Amico, S., Ardaens, J. -S., “Angles-only Navigation to a NoncooperativeSatellite Using Relative Orbital Elements,” Journal of Guidance, Control, andDynamics (accepted for publication).
D’Amico, S., Ardaens, J. -S., Gaias, G., Benninghoff, H., Schlepp, B, and Jørgensen,J. L., “Noncooperative Rendezvous Using Angles-only Optical Navigation: SystemDesign and Flight Results,” Journal of Guidance, Control, and Dynamics, accessedSeptember 13, 2013. doi: 10.2514/1.59236.