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NASA NTRS1991

An overview of autonomous rendezvous and docking system technology development

The Centaur upper stage was selected for an airborne avionics modernization program. The parts used in the existing avionics units were obsolete. Continued use of existing hardware would require substantial redesign, yet would result in the use of outdated hardware. Out of date processes, with very expensive and labor intensive technologies, were being used for manufacturing. The Atlas/Centaur avionics were to be procured at a fairly high rate that demanded the use of modern components. The new avionics also reduce size, weight, power, and parts count with a dramatic improvement in reliability. Finally, the cost leverage derived from upgrading the avionics as opposed to any other subsystem for the existing Atlas/Centaur was a very large consideration in the upgrade decision. The upgrade program is a multiyear effort that began in 1989. It includes telemetry, guidance and navigation, control electronics, thrust vector control, and redundancy levels.

Nelson, Kurt D.↗
NASA NTRS1991

An autonomous rendezvous and docking system using cruise missile technology

In November 1990 General Dynamics demonstrated an AR&D system for members of the Strategic Avionics Technology Working Group. This simulation utilized prototype hardware derived from the Cruise Missile and Centaur avionics systems. The object of this proof of concept demonstration was to show that all the accuracy, reliability, and operational requirements established for a spacecraft to dock with Space Station Freedom could be met by the proposed AR&D system.

Jones, ED↗
NASA NTRS1991

Design and fabrication of an autonomous rendezvous and docking sensor using off-the-shelf hardware

NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).

Grimm, Gary E.↗
NASA NTRS1991

An overview of autonomous rendezvous and docking system technology development at General Dynamics

The Centaur avionics suite is undergoing a dramatic modernization for the commercial, DoD Atlas and Titan programs. The system has been upgraded to the current state-of-the-art in ring laser gyro inertial sensors and Mil-Std-1750A processor technology. The Cruise Missile avionic system has similarly been evolving for many years. Integration of GPS into both systems has been underway for over five years with a follow-on cruise missile system currently in flight test. Rendezvous and Docking related studies have been conducted for over five years in support of OMV, CTV, and Advanced Upper Stages, as well as several other internal IR&D's. The avionics system and AR&D simulator demonstrated to the SATWG in November 1990 has been upgraded considerably under two IR&D programs in 1991. The Centaur modern avionics system is being flown in block upgrades which started in July of 1990. The Inertial Navigation Unit will fly in November of 1991. The Cruise Missile avionics systems have been fully tested and operationally validated in combat. The integrated AR&D system for space vehicle applications has been under development and testing since 1990. A Joint NASA / GD ARD&L System Test Program is currently being planned to validate several aspects of system performance in three different NASA test facilities in 1992.

Kuenzel, Fred↗
NASA NTRS1991

The development of an autonomous rendezvous and docking simulation using rapid integration and prototyping technology

A generic planar 3 degree of freedom simulation was developed that supports hardware in the loop simulations, guidance and control analysis, and can directly generate flight software. This simulation was developed in a small amount of time utilizing rapid prototyping techniques. The approach taken to develop this simulation tool, the benefits seen using this approach to development, and on-going efforts to improve and extend this capability are described. The simulation is composed of 3 major elements: (1) Docker dynamics model, (2) Dockee dynamics model, and (3) Docker Control System. The docker and dockee models are based on simple planar orbital dynamics equations using a spherical earth gravity model. The docker control system is based on a phase plane approach to error correction.

Shackelford, John H.↗
NASA NTRS1983

Development of an autonomous video rendezvous and docking system, phase 2

The critical elements of an autonomous video rendezvous and docking system were built and used successfully in a physical laboratory simulation. The laboratory system demonstrated that a small, inexpensive electronic package and a flight computer of modest size can analyze television images to derive guidance information for spacecraft. In the ultimate application, the system would use a docking aid consisting of three flashing lights mounted on a passive target spacecraft. Television imagery of the docking aid would be processed aboard an active chase vehicle to derive relative positions and attitudes of the two spacecraft. The demonstration system used scale models of the target spacecraft with working docking aids. A television camera mounted on a 6 degree of freedom (DOF) simulator provided imagery of the target to simulate observations from the chase vehicle. A hardware video processor extracted statistics from the imagery, from which a computer quickly computed position and attitude. Computer software known as a Kalman filter derived velocity information from position measurements.

Tietz, J. C.↗
NASA NTRS2010

Present Challenges, Critical Needs, and Future Technological Directions for NASA's GN and C Engineering Discipline

The National Aeronautics and Space Administration (NASA) is currently undergoing a substantial redirection. Notable among the changes occurring within NASA is the stated emphasis on technology development, integration, and demonstration. These new changes within the Agency should have a positive impact on the GN&C discipline given the potential for sizeable investments for technology development and in-space demonstrations of both Autonomous Rendezvous & Docking (AR&D) systems and Autonomous Precision Landing (APL) systems. In this paper the NASA Technical Fellow for Guidance, Navigation and Control (GN&C) provides a summary of the present technical challenges, critical needs, and future technological directions for NASA s GN&C engineering discipline. A brief overview of the changes occurring within NASA that are driving a renewed emphasis on technology development will be presented as background. The potential benefits of the planned GN&C technology developments will be highlighted. This paper will provide a GN&C State-of-the-Discipline assessment. The discipline s readiness to support the goals & objectives of each of the four NASA Mission Directorates is evaluated and the technical challenges and barriers currently faced by the discipline are summarized. This paper will also discuss the need for sustained investments to sufficiently mature the several classes of GN&C technologies required to implement NASA crewed exploration and robotic science missions.

Dennehy, Cornelius J.↗
NASA NTRS1985

Autonomous spacecraft rendezvous and docking

A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

Tietz, J. C.↗
NASA NTRS2018

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Stone, William C.↗
NASA NTRS1991

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 6: Controls and guidance

Viewgraphs of briefings from the Space Systems and Technology Advisory Committee (SSTAC)/ARTS review of the draft Integrated Technology Plan (ITP) on controls and guidance are included. Topics covered include: strategic avionics technology planning and bridging programs; avionics technology plan; vehicle health management; spacecraft guidance research; autonomous rendezvous and docking; autonomous landing; computational control; fiberoptic rotation sensors; precision instrument and telescope pointing; microsensors and microinstruments; micro guidance and control initiative; and earth-orbiting platforms controls-structures interaction.

Source record↗
NASA NTRS2009

Proximity Operations and Docking Sensor Development

The Next Generation Advanced Video Guidance Sensor (NGAVGS) has been under development for the last three years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in spot mode out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. 12 Parts obsolescence issues prevent the construction of more AVGS units, and the next generation sensor was updated to allow it to support the CEV and COTS programs. The flight proven AR&D sensor has been redesigned to update parts and add additional capabilities for CEV and COTS with the development of the Next Generation AVGS at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities include greater sensor range, auto ranging capability, and real-time video output. This paper presents some sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the brassboard and proto-type NGAVGS units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

Howard, Richard T.↗
NASA NTRS2009

The Next Generation Advanced Video Guidance Sensor: Flight Heritage and Current Development

The Next Generation Advanced Video Guidance Sensor (NGAVGS) is the latest in a line of sensors that have flown four times in the last 10 years. The NGAVGS has been under development for the last two years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in "spot mode" out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. This paper presents the flight heritage and results of the sensor technology, some hardware trades for the current sensor, and discusses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the various NGAVGS development units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

Howard, Richard T.↗
NASA NTRS2017

Ground Demonstration on the Autonomous Docking of Two 3U CubeSats Using a Novel Permanent-Magnet Docking Mechanism

Small spacecraft autonomous rendezvous and docking is an essential technology for future space structure assembly missions. A novel magnetic capture and latching mechanism is analyzed that allows for docking of two CubeSats without precise sensors and actuators. The proposed magnetic docking hardware not only provides the means to latch the CubeSats but it also significantly increases the likelihood of successful docking in the presence of relative attitude and position errors. The simplicity of the design allows it to be implemented on many CubeSat rendezvous missions. A CubeSat 3-DOF ground demonstration effort is on-going at NASA Langley Research Center that enables hardware-in-the loop testing of the autonomous approach and docking of a follower CubeSat to an identical leader CubeSat. The test setup consists of a 3 meter by 4 meter granite table and two nearly frictionless air bearing systems that support the two CubeSats. Four cold-gas on-off thrusters are used to translate the follower towards the leader, while a single reaction wheel is used to control the attitude of each CubeSat. An innovative modified pseudo inverse control allocation scheme was developed to address interactions between control effectors. The docking procedure requires relatively high actuator precision, a novel minimal impulse bit mitigation algorithm was developed to minimize the undesirable deadzone effects of the thrusters. Simulation of the ground demonstration shows that the Guidance, Navigation, and Control system along with the docking subsystem leads to successful docking under 3-sigma dispersions for all key system parameters. Extensive simulation and ground testing will provide sufficient confidence that the proposed docking mechanism along with the choosen suite of sensors and actuators will perform successful docking in the space environment.

Pei, Jing↗
NASA NTRS1984

Automated rendezvous and docking: A parametric study

A technique for achieving autonomous rendezvous and docking of two orbiting space vehicles is described. Results of a digital computer simulation of the technique are presented and used to evaluate its performance under a wide variety of conditions, including docking with tumbling spacecraft. The interrelationships between initial range, tumbling rates, fuel consumption, and time requirements are explored. Factors which limit performance are identified and beneficial modifications proposed.

Dabney, R.↗
NASA NTRS1984

Development of an autonomous video rendezvous and docking system, phase 3

Field-of-view limitations proved troublesome. Higher resolution was required. Side thrusters were too weak. The strategy logic was improved and the Kalman filter was augmented to estimate target attitude and tumble rate. Two separate filters were used. The new filter estimates target attitude and angular momentum. The Newton-Raphson iteration improves image interpretation.

Tietz, J. C.↗
NASA NTRS1989

Satellite servicer system flight demonstration program

A program to develop the capability of servicing satellites in remote locations, where a series of flight that will demonstrate autonomous rendezvous and docking, supervised autonomous Orbital Replacement Unit (ORU) exchange, supervised autonomous fluid transfer and, proximity operations for Space Station Freedom were planned, is described. The flight demonstrations are the results of several mission scenarios with complex technical objectives. Three Shuttle flights are planned to complete the multi-objective program. The major hardware elements of the program are described and discussed. Demonstration objectives and technical approaches to the flight demonstrations are discussed. Existing and developing technologies are assessed for applicability to the Satellite Servicer System (SSSFD) program.

James S. Moore↗
NASA NTRS1990

Satellite Servicer System flight demonstration program

The major hardware elements, demonstration objectives, and technical approaches, as well as existing and developing technologies for applicability to the Satellite Servicer System (SSSFD) program are presented. In a project to develop the capability of servicing satellites in remote locations, NASA and SDI have planned a series of flights to demonstrate autonomous rendezvous and docking, supervised autonomous fluid transfer, and supervised autonomous orbital replacement unit exchange. Program objectives, design reference mission, and flight demonstrations are described. The expanded capability demonstrated by the SSSFD program will provide alternatives to excessive dependence on ground operations personnel and training, increase the reach into unique space environments, and decrease the costs of managing and operating space assets.

Moore, James S.↗