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Richard Linares

Publications and source records attributed to Richard Linares.

3 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2025

Simultaneous Localization and Mapping for Spacecraft Rendezvous and Proximity Operations Using Random Finite Sets

Future space missions require spacecraft to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current navigation filters used for RPO can have difficulty when optical sensors are used, due to complications with data association, high measurement uncertainty, and clutter. This paper provides an initial demonstration of the feasibility of using random finite set (RFS) filters for spacecraft relative navigation and pose estimation. Spacecraft relative navigation is formulated as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. Simulated flash LIDAR measurements are processed using a Gaussian Mixture Probability Hypothesis Density (GMPHD) filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer over time. Results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario.

David E Gaylor↗
NASA NTRS2024

Dynamic Orbital Slingshot for Rendezvous with Interstellar Objects

The solar sail “statite” concept presents a potential means to study interstellar objects (ISOs). A new class of asteroids and comets, ISOs offer a unique scientific opportunity to answer fundamental scientific questions about the origin of solar system volatiles, the compositions of exo-solar systems, and the transfer rates of material between solar systems. Unfortunately, they are also challenging to study due to their high excess energies and the short lead time offered by present detection infrastructure. By using its solar sail to “hover” in place, a statite is able to await the discovery of an ISO and, when called upon, convert the enormous potential energy of its stationary state into the velocity necessary to rendezvous with the targeted comet or asteroid. The investigation completed in Phase I focused on establishing the viability of the proposed mission concept. To do so, optimal trajectories to the two known ISOs were demonstrated and the relationship between statite placement and the resulting trajectory was explored. Post-launch trajectories from the Earth to strategic statite states were also shown to be feasible. Concurrently with these efforts, a thorough review of published ISO population estimates was conducted and preliminary steps towards creating a database of synthetic ISO ephemerides were completed. If renewed for a Phase II, this will be used to characterize the capabilities of the statite concept.

NIAC Phase I↗