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The feasibility of a satellite rendezvous, landing, and roving mission to the Martian satellites Phobos and Deimos is considered. Mission-oriented analysis, systems analysis, and conceptual design studies are presented.
Energy-optimal trajectories for terminal phase of satellite rendezvous
An analytical and simulation study has been conducted of an automatic system for control of the terminal phase of rendezvous between two space vehicles. The basic system employs switching and thrust orientation criteria based upon relative-motion parameters first to establish a collision course and then to reduce the range and range rate to zero, simultaneously. In addition, a technique has been devised by which the system effects control based upon the total amount of fuel available for this phase of the space mission. The onboard equipment assumed for the intercepting vehicle includes a special-purpose computer, an attitude-control system, a single main rocket engine with, multi-start capabilities, and sensors capable of measuring range, line-of sight angles, and the time derivatives of these quantities. Techniques are developed. for employing control with either modulated thrust or on-off thrust at a constant level. The results of an analog simulation study of the automatic control system in which a six-degree-of freedom vehicle is assumed are presented for various initial conditions at the beginning of the terminal phase. The results of the study indicate that the automatic system can effectively control the terminal phase of rendezvous over a wide range of initial conditions and control-system requirements and, in addition, can utilize the available fuel in a very efficient manner.
A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.
Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation 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. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.
Future space missions require that spacecraft have the capability to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current relative navigation filters can have difficulty in these situations, diverging due to complications with data association, high measurement uncertainty, and clutter, particularly when detailed a priori maps of the target object or spacecraft do not exist. The goal of this work is to demonstrate the feasibility of random finite set (RFS) filters for spacecraft relative navigation and pose estimation. The approach is to formulate satellite relative navigation and pose estimation 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. This work utilizes a filter developed using the framework of RFS which are well suited to multi-target SLAM operations, avoiding data association entirely. Relevant RPO scenarios with simulated flash LIDAR measurements are tested with a Probability Hypothesis Density (PHD) RFS filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer. Preliminary results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario with no a priori map of the target. These results demonstrate the feasibility of RFS filtering for spacecraft relative navigation and motivate future studies which may expand to tracking space objects for space situational awareness, as well as relative navigation around small bodies.
An analytical and simulation study was conducted of an automatic system to control the terminal phase of rendezvous between two space vehicles. The system employs switching and thrust orientation criteria based upon relative-motion parameters first to establish a collision course and then to reduce the range and range rate to zero simultaneously. Techniques are developed for employing either modulated thrust or on-off thrust at a constant level. Results of the study indicate that the automatic system can effectively control rendezvous over a wide range of initial conditions and can utilize the available fuel in a very efficient manner.
The development of the Advanced Computer Graphics Laboratory at NASA/JSC will enable NASA engineers to utilize state-of-the-art computer systems to simulate and analyze current and planned space missions. These systems utilize computer graphics to animate automated satellite rendezvous and docking, satellite servicing, tether operations, as well as remote manipulator activities and assembly of large space structures including the space station. These computer simulations enhance the engineering evaluation of possible hazardous scenarios in space by allowing users to view from any point in space these activities and determine if any potential problem could occur.
The technical feasibility of accomplishing a variety of cost-effective missions to the satellites of Mars were investigated. Three mission options were studied: a basic satellite rendezvous and landing mission, a satellite sample return mission, and a combination Mars landing and Phobos/Deimos exploration mission. Nominal science payloads and supporting subsystems were defined for each mission design. Configuration layouts, program schedules, and cost estimates were also developed for each option. Environmental criteria unique to the mission were developed. Supporting studies, research, and technology requirements were identified.
Computer program for satellite rendezvous and docking maneuver simulations
Experiment missions for OSO satellite rendezvous, capture, material recovery, refurbishment, and extravehicular operation work
Experiment missions for OSO satellite rendezvous, capture, material retrieval, refurbishment, and extravehicular operation work
Experiment missions for OSO satellite rendezvous, capture, material retrieval, refurbishment, and extravehicular operation work
Navigation aspects of a rendezvous mission to Deimos (the outer satellite of Mars) were examined using a modified Viking Monte Carlo error analysis program. Rendezvous is initiated by two-impulse transfer from an observation orbit cotangent with the orbit of Deimos. Television sightings of the satellite against a star background will allow a 20 km closest approach radius (R99) 99% of the time. This is well within the 100 km range of the terminal rendezvous radar. An additional delta-V capability of about 100 m/sec (above the nominal) must be allocated to account for the statistical nature of the mission. This delta-V requirement was found to be very sensitive to the level of satellite ephemeris error and maneuver execution error. The R99 on the other hand, is sensitive to the in-orbit DSN error and the maneuver execution error.
Forces on tethered satellites, tether tension as a function of the effective mass, and parameters of candidate tether materials are examined. Illustrations show: stabilization control law; tethered satellite deployment and retrieval; angular momentum; electric motor effect reboost; a very long tether phenomenon; shuttle tethered satellite effects on the orbiter; artificial gravity; tethered satellite rendezvous docking relative velocity; and scaling up from the shuttle/TSS. Limitations of the tethered satellite system and of tether properties as well as cost/benefits trades for future applications are considered.
This final report documents the activities during a sabbatical. Leo Monford was the principal NASA contact for this work. The work supported a flight experiment planned by the Space Research Consortium which investigated the potential of using a Targeting Reflective Alignment Concept (TRAC) sensor to automatically rendezvous satellites. Other work supported the Explorer flight experiment by providing TRAC reflectors for future rendezvous experiments. The third project initiated was a visionless TRAC sensing concept called the PSD concept.
The rendezvous problem is defined by the end conditions that the position and velocity of a vehicle and its target are to be matched. In its present form proportional navigation theory allows the interception of a target by the vehicle, that is , the matching of positions. This report extends the theory to include the full rendezvous end conditions. Trajectory constraint equations are derived and the method of computing the required thrust program in idealized problems is outlined. The thrust program obtained results entirely from the trajectory and does not consider the dynamics of the vehicles or errors inherent in a real system. The properties of the thrust program, such as its variation both in magnitude and direction, are examined. An acceleration forcing function is also derived and its properties examined. The theory is applied to the satellite rendezvous problem as an example and some computations are presented.
The SERT D (Space Electric Rocket Test - D) study defines a possible spacecraft project that would demonstrate the use of electric ion thrusters for long-term (5 yr) station keeping and attitude control of a synchronous orbit satellite. Other mission objectives included in the study were: station walking to satellite rendezvous and inspection, use of low cost attitude sensing system, use of an advanced solar array orientation and slip ring system, and an ion thruster integrated directly with a solar array power source. The SERT D spacecraft, if launched, will become SERT 3 the third space electric thruster test.