Development of a guidance, navigation and control architecture and validation process enabling autonomous docking to a tumbling satellite

The capability to routinely perform autonomous docking is a key enabling technology for future space exploration, as well as assembly and servicing missions for spacecraft and commercial satellites. Particularly, in more challenging situations where the target spacecraft or satellite is tumbling, algorithms and strategies must be implemented to ensure the safety of both docking entities in the event of anomalies. However, difficulties encountered in past docking missions conducted with expensive satellites on orbit have indicated a lack of maturity in the technologies required for such operations. Therefore, more experimentation must be performed to improve the current autonomous docking capabilities. The main objectives of the research presented in this thesis are to develop a guidance, navigation and control (GN&C) architecture that enables the safe and fuel-efficient docking with a free tumbling target in the presence of obstacles and anomalies, and to develop the software tools and verification processes necessary in order to successfully demonstrate the GN&C architecture in a relevant environment. The GNC Fax 617-253-1690.) Multiple autonomous docking operations have been performed in the ISS to validate the GN&C architecture. These experiments led to the first autonomous docking with a tumbling target ever achieved in microgravity. Furthermore, the author also demonstrated successful docking in spite of the presence of measurement errors that were detected and rejected by an online fault detection algorithm. The results of these experiments will be discussed in this thesis. Finally, based on experiments in a laboratory environment, the author establishes two processes for the verification of GN&C software prior to on-orbit testing on the SPHERES testbed.

[1]  이정호,et al.  Fundamentals of Fluid Mechanics, 6th Edition , 2009 .

[2]  Simon Nolet.  The SPHERES Navigation System: from Early Development to On-Orbit Testing , 2007 .

[3]  Gaurav S. Sukhatme,et al.  Fault detection and identification in a mobile robot using multiple model estimation and neural network , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[4]  K. C. Daly,et al.  Generalized Likelihood Test for FDI in Redundant Sensor Configurations , 1979 .

[5]  Shinichi Nakasuka,et al.  New attitude motion following control algorithm for capturing tumbling object in space , 2003 .

[6]  M. Nimelman,et al.  Spaceborne scanning lidar system (SSLS) upgrade path , 2006, SPIE Defense + Commercial Sensing.

[7]  Jonathan P. How,et al.  Spacecraft trajectory planning with avoidance constraints using mixed-integer linear programming , 2002 .

[8]  Yoshiaki Ohkami,et al.  Satellite capturing strategy using agile Orbital Servicing Vehicle, Hyper-OSV , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[9]  Mitsushige Oda.  Experiences and lessons learned from the ETS-VII robot satellite , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  Yaakov Oshman,et al.  Fault-Tolerant Particle Filtering by Using Interacting Multiple Model-Based Rao-Blackwellization , 2005 .

[11]  Allen Chen.  Propulsion system characterization for the SPHERES Formation Flight and Docking testbed , 2002 .

[12]  Chi Zhu,et al.  Planning of Safe Kinematic Trajectories for Free Flying Robots Approaching an Uncontrolled Spinning Satellite , 2002 .

[13]  Alan V. Oppenheim,et al.  Discrete-time Signal Processing. Vol.2 , 2001 .

[14]  M. Hilstad,et al.  The SPHERES Guest Scientist Program: collaborative science on the ISS , 2004, 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720).

[15]  Robert F. Stengel,et al.  Optimal Control and Estimation , 1994 .

[16]  Jean-Francois Lévesque.  Second-Order Simplex Sigma Points for Nonlinear Estimation , 2006 .

[17]  Jeannine Siviy,et al.  Using the Technology Readiness Levels Scale to Support Technology Management in the DoD's ATD/STO Environments (A Findings and Recommendations Report Conducted for Army CECOM) , 2002 .

[18]  Steven Ray Hall.  Parity vector compensation for FDI , 1981 .

[19]  Susan McKenna-Lawlor,et al.  Essential Spaceflight Dynamics and Magnetospherics , 2002 .

[20]  Jonathan P. How,et al.  Safe Trajectories for Autonomous Rendezvous of Spacecraft , 2006 .

[21]  E. Wilson,et al.  On-line gyro-based, mass-property identification for thruster-controlled spacecraft using recursive least squares , 2002, The 2002 45th Midwest Symposium on Circuits and Systems, 2002. MWSCAS-2002..

[22]  Edward Wilson,et al.  Motion-Based Thruster Fault Detection and Isolation , 2005 .

[23]  Shinichi Nakasuka,et al.  Motion Estimation and Capturing of Tumbling Object in Non-Gravitational Field , 1998 .

[24]  Yoshiaki Ohkami,et al.  FLY-BY APPROACH AND GUIDANCE FOR UNCONTROLLED ROTATING SATELITE CAPTURE , 2003 .

[25]  Richard T. Howard,et al.  Automated rendezvous and docking operations evaluations , 2006, SPIE Defense + Commercial Sensing.

[26]  Buzz Aldrin,et al.  Line-of-sight guidance techniques for manned orbital rendezvous , 1963 .

[27]  Michael E. Polites,et al.  An Assessment of the Technology of Automated Rendezvous and Capture in Space , 1998 .

[28]  Haim Weiss,et al.  Quarternion feedback regulator for spacecraft eigenaxis rotations , 1989 .

[29]  Alvar,et al.  The SPHERES Satellite Formation Flight Testbed: Design and Initial Control , 2000 .

[30]  John L. Crassidis.  Sigma-point Kalman filtering for integrated GPS and inertial navigation , 2006 .

[31]  Alberto Bemporad,et al.  Model predictive control based on linear programming - the explicit solution , 2002, IEEE Transactions on Automatic Control.

[32]  Hari B. Hablani,et al.  Guidance Algorithms for Autonomous Rendezvous of Spacecraft with a Target Vehicle in Circular Orbit , 2001 .

[33]  Thaweepat Buranathiti,et al.  Model validation via uncertainty propagation and data transformations , 2004 .

[34]  H. J. Buchanan,et al.  Uncontrolled Dynamics of the Skylab Vehicle , 1981 .

[35]  John Enright,et al.  The SPHERES Guest Scientist Program , 2003 .

[36]  Allen Chen,et al.  Development of Formation Flight and Docking Algorithms using the SPHERES Testbed , 2001 .

[37]  Sang-Rok Oh,et al.  A hybrid control architecture using a reactive sequencing strategy for mobile robot navigation , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[38]  Lennon Rodgers,et al.  A Universal Interface for Modular Spacecraft , 2005 .

[39]  Richard A. Brown,et al.  Introduction to random signals and applied kalman filtering (3rd ed , 2012 .

[40]  Lennon Rodgers,et al.  Concepts and technology development for the autonomous assembly and reconfiguration of modular space systems , 2006 .

[41]  Rudolph van der Merwe,et al.  The square-root unscented Kalman filter for state and parameter-estimation , 2001, 2001 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings (Cat. No.01CH37221).

[42]  Emilio Frazzoli,et al.  A hybrid control architecture for aggressive maneuvering of autonomous helicopters , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[43]  Trent Yang.  Optimal thruster selection with robust estimation for formation flying applications , 2003 .

[44]  Michael Athans,et al.  The stochastic control of the F-8C aircraft using a multiple model adaptive control (MMAC) method--Part I: Equilibrium flight , 1977 .

[45]  Flavio Bonfatti,et al.  PLC software modularity and co-operative development , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[46]  F. Markley,et al.  Unscented Filtering for Spacecraft Attitude Estimation , 2003 .

[47]  Johann Schumann,et al.  Verification, Validation, and Certification Challenges for Adaptive Flight-Critical Control System Software , 2004 .

[48]  M. Hilstad,et al.  Development and verification of algorithms for spacecraft formation flight using the SPHERES testbed: application to TPF , 2004, SPIE Astronomical Telescopes + Instrumentation.

[49]  Douglas J. Zimpfer,et al.  Autonomous Rendezvous, Capture and In-Space Assembly: Past, Present and Future , 2005 .

[50]  Jalal Mapar,et al.  Autonomous Acquisition, Rendezvous, & Docking Using a Video Guidance Sensor: Experimental Testbed Results , 2002 .

[51]  Marcel J. Sidi,et al.  Spacecraft Dynamics and Control: A Practical Engineering Approach , 1997 .

[52]  David W. Miller,et al.  Control testbeds and flight demonstrations: transitioning theory to application , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[53]  M. Aung,et al.  The formation control testbed , 2004, 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720).

[54]  Jennifer D. Mitchell,et al.  AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles , 2006 .

[55]  A. Pejsa.  Optimum orientation and accuracy of redundant sensor arrays , 1971 .

[56]  Roger W. Logan,et al.  Validation, Uncertainty, and Quantitative Reliability at Confidence (QRC) , 2003 .

[57]  R. Farrenkopf.  Analytic Steady-State Accuracy Solutions for Two Common Spacecraft Attitude Estimators , 1978 .

[58]  David W. Carter,et al.  Attitude Control System Design for Return of the Kistler K1 Orbital Vehicle , 2000 .

[59]  D. Magill.  Optimal adaptive estimation of sampled stochastic processes , 1965 .

[60]  Deok-Jin Lee,et al.  Sigma Point Filtering for Sequential Orbit Estimation and Prediction , 2007 .

[61]  Alvar,et al.  Design principles for the development of space technology maturation laboratories aboard the International Space Station , 2005 .

[62]  Marcello Romano,et al.  Laboratory Experimentation of Autonomous Spacecraft Approach and Docking to a Collaborative Target , 2007 .

[63]  E. Wilson,et al.  Gyro-based maximum-likelihood thruster fault detection and identification , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[64]  Steven E. Fredrickson,et al.  Application of the mini AERCam free flyer for orbital inspection , 2004, SPIE Defense + Commercial Sensing.

[65]  Bong Wie,et al.  Space Vehicle Dynamics and Control , 1998 .

[66]  Don J. Pearson.  The glideslope approach , 1989 .

[67]  Warren P. Seering,et al.  THE INFLUENCE OF ARCHITECTURE IN ENGINEERING SYSTEMS , 2004 .

[68]  Roger W. Logan,et al.  Risk Reduction as the Product of Model Assessed Reliability, Confidence, and Consequence , 2004 .

[69]  John Deyst,et al.  In-Flight Parity Vector Compensation for FDI , 1983, IEEE Transactions on Aerospace and Electronic Systems.

[70]  E. J. Lefferts,et al.  Kalman Filtering for Spacecraft Attitude Estimation , 1982 .

[71]  Mark Ole Hilstad.  A multi-vehicle testbed and interface framework for the development and verification of separated spacecraft control algorithms , 2002 .

[72]  V. Verma,et al.  Real-time fault detection and situational awareness for rovers: report on the Mars technology program task , 2004, 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720).

[73]  John J. Deyst,et al.  Maximum Likelihood Failure Detection Techniques Applied to the Shuttle RCS Jets , 1976 .

[74]  Matthew F. Barone,et al.  Measures of agreement between computation and experiment: Validation metrics , 2004, J. Comput. Phys..

[75]  Steve Van Winkle.  Advanced Video Guidance Sensor (AVGS) project summary , 2004, SPIE Defense + Commercial Sensing.

[76]  David W. Miller,et al.  1 AAS 07-042 SPHERES OPERATIONS ABOARD THE ISS : MATURATION OF GN & C ALGORITHMS IN MICROGRAVITY , 2007 .

[77]  Jonathan P. How,et al.  Hierarchic Control Architecture for Intelligent Structures , 1991 .

[78]  Jeffrey W. Tripp,et al.  Spaceborne scanning lidar system (SSLS) , 2005, SPIE Defense + Commercial Sensing.

[79]  Patrick A. Tobbe,et al.  The flight robotics laboratory , 1988 .

[80]  Hugh F. Durrant-Whyte,et al.  A new method for the nonlinear transformation of means and covariances in filters and estimators , 2000, IEEE Trans. Autom. Control..

[81]  Arthur G. Richards,et al.  Robust constrained model predictive control , 2005 .

[82]  G. A. Dorais,et al.  The personal satellite assistant: an internal spacecraft autonomous mobile monitor , 2003, 2003 IEEE Aerospace Conference Proceedings (Cat. No.03TH8652).

[83]  Arthur Richards,et al.  Trajectory Optimization using Mixed-Integer Linear Programming , 2002 .

[84]  Timothy E. Rumford.  Demonstration of autonomous rendezvous technology (DART) project summary , 2003, SPIE Defense + Commercial Sensing.

[85]  Edward Wilson,et al.  Motion-Based Mass- and Thruster-Property Identification for Thruster-Controlled Spacecraft , 2005 .

[86]  F. A. Seiler,et al.  Numerical Recipes in C: The Art of Scientific Computing , 1989 .

[87]  Masahiro Fujita,et al.  Autonomous behavior control architecture of entertainment humanoid robot SDR-4X , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[88]  Jonathan P. How,et al.  A New Nonlinear Guidance Logic for Trajectory Tracking , 2004 .

[89]  Soon-Jo Chung,et al.  Nonlinear control and synchronization of multiple Lagrangian systems with application to tethered formation flight spacecraft , 2007 .

[90]  Bong Wie,et al.  Quaternion feedback for spacecraft large angle maneuvers , 1985 .

[91]  Tull,et al.  XSS-10 Micro-Satellite Flight Demonstration Program , 2003 .

[92]  Michel D. Ingham,et al.  Engineering Complex Embedded Systems with State Analysis and the Mission Data System , 2004 .

[93]  Ben H Thacker.  The Role of Nondeterminism in Computational Model Verification and Validation , 2005 .

[94]  G. Hunyadi,et al.  The University Nanosat Program: an adaptable, responsive and realistic capability demonstration vehicle , 2004, 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720).

[95]  Pierre Blanc-Paques.  Thruster calibration for the spheres spacecraft formation flight testbed , 2005 .

[96]  Lennon Rodgers,et al.  Development of the miniature video docking sensor , 2006, SPIE Defense + Commercial Sensing.

[97]  Takashi Suzuki,et al.  Result and evaluation of autonomous rendezvous docking experiment of ETS-VII , 1999 .

[98]  Michael Ruth,et al.  Video-guidance design for the DART rendezvous mission , 2004, SPIE Defense + Commercial Sensing.

[99]  David L. Akin,et al.  Robotic capabilities for complex space operations , 2001 .

[100]  Riley Duren.  Validation and verification of deep-space missions , 2004 .

[101]  F. Markley,et al.  Nonlinear Attitude Filtering Methods , 2005 .

[102]  Louis Scott Breger,et al.  Control of spacecraft in proximity orbits , 2007 .

[103]  Soon-Jo Chung,et al.  Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight , 2007 .

[104]  Glenn Reeves,et al.  Software architecture themes in JPL's mission data system , 1999 .

[105]  Jonathan P. How,et al.  3D Formation Flight Using Differential Carrier-Phase GPS Sensors , 1999 .

[106]  Stephen R. Granade,et al.  A correlator-based video sensor for docking with the Hubble Space Telescope , 2005, SPIE Defense + Commercial Sensing.

[107]  David W. Miller,et al.  Autonomous docking algorithm development and experimentation using the SPHERES testbed , 2004, SPIE Defense + Commercial Sensing.

[108]  Otto J. M. Smith,et al.  Feedback control systems , 1958 .

[109]  H. Gelderloos,et al.  GPS attitude system integrated with an inertial system for space applications , 1997, 16th DASC. AIAA/IEEE Digital Avionics Systems Conference. Reflections to the Future. Proceedings.

[110]  James Shoemaker,et al.  Orbital express space operations architecture program , 2003, SPIE Defense + Commercial Sensing.

[111]  Edward A. LeMaster,et al.  Experimental Demonstration of Technologies for Autonomous On-Orbit Robotic Assembly , 2006 .

[112]  Rémi Delage.  An Overview of ATV Integrated Mission Analysis and Mission Preparation , 2003 .

[113]  Stephen Kemble,et al.  Automated Rendezvous and Docking of Spacecraft , 2007 .

[114]  Jonathan P. How,et al.  Local control design methodologies for a hierarchic control architecture , 1991 .

[115]  C. R. Peterson,et al.  Mechanics And Thermodynamics Of Propulsion , 1965 .

[116]  Alvar Saenz-Otero,et al.  SPHERES as a Formation Flight Algorithm Development and Validation Testbed: Current Progress and Beyond , 2004 .