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IEEE International Conference on Information and Automation

作者： Yonggang Zhang Yuanfang Dang Ning Li Yulong Huang Department of Automation University of Harbin Engineering

ISBN: (纸本)9781467391054

A navigation algorithm based on the distributed Kalman filtering is proposed in this paper. Compared with the algorithm that based on the centralized Kalman filtering, the proposed method can overcome a lot of shortcomings of the integrated navigation algorithm based on centralized Kalman filtering with similar navigation accuracy. Illustrative simulation is also provided to show the efficiency of the proposed method.

关键词： navigation algorithm Distributed Kalman filtering Centralized Kalman filtering

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Aiding Angles-Only navigation with Illumination Telemetry to Resolve Weak Observability

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2023年第11期46卷 2110-2120页

作者： Stoker-Spirt, Eric T. NASA Goddard Space Flight Ctr Greenbelt MD 20771 USA Tact Space Syst Northrop Grumman GNC Engn 45101 Warp Dr Sterling VA 20166 USA

This paper introduces the discrete measurement transition update (DMTU), a reformulation of the Kalman filter measurement update that is capable of processing discrete data. DMTU is applied to illumination data onboard a spacecraft to create a new observable for space navigation systems. It is shown that combining this new observable with intersatellite angle measurements creates an autonomous navigation system (Angles and Illumination Data navigation [AIDnav]) capable of resolving the absolute orbits of both spacecraft. This novel navigation system is extremely low size, weight, and power, relying only on hardware already found on most spacecraft. It does not require cooperative spacecraft or more than one observer, nor does it require orbits or maneuvers that maximize observability. The performance of AIDnav is studied in a Monte Carlo simulation for a potential distributed Mars mission, and it is shown to be capable of determining an orbit with an average converged state error of 86 m and 7 cm/s. This method of navigation is viable for many different orbital regimes, but is ideal for ride-along interplanetary missions, which will always have a nearby target to observe and an external source of navigation before capturing into orbit at the destination central body.

关键词： Unscented Kalman Filter Orbit Determination Spacecraft navigation CubeSat Autonomous navigation System Mars Missions Interplanetary Spaceflight Distributed Space Systems navigation algorithm

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Outlier rejection for reducing position error in navigation system based on multi sensors

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MEASUREMENT & CONTROL 2023年第3-4期56卷 481-492页

作者： Ji, Dae-Hyeong Jeong, Sang-Ki Choi, Hyeung-Sik Lee, Jung-Han Ko, Sung-Hyub Hyeon, Jong-Wu Kim, Myung-Jun Korea Inst Ocean Sci & Technol Marine Secur & Safety Res Ctr Busan South Korea Korea Inst Ocean Sci & Technol Maritime ICT R&D Ctr 385 Haeyang Ro Busan 49111 South Korea Korea Maritime & Ocean Univ Dept Mech Engn Busan South Korea LIG Nex1 Co Ltd Maritime R&D Ctr Gyeonggi Do South Korea

A navigation system is critical for the operation of autonomous vehicles. Various sensors must be used to build navigation systems. To fuse multiple sensors, a highly advanced filter algorithm is required. navigation systems have difficulties in signal-degraded scenarios, where the navigation solution can be degraded by errors such as multipath and obscured signals. This paper proposes a navigation system using a technique to reject the outliers measured by sensors. The navigation system was designed to include sensor modeling, navigation filters, and outlier rejection. The sensors used in the navigation system are the accelerometer, gyroscope, magnetometer, and global positioning system. Before the experiment, a navigation simulation was performed to evaluate the results and validate the proposed navigation algorithm. The results of the experiment verified that the navigation system, including outlier rejection, had less positional error than that of the general navigation system.

关键词： navigation system autonomous vehicle navigation algorithm outlier rejection global positioning system

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Adaptive End-to-End Architecture for Autonomous Spacecraft navigation and Control During Rendezvous and Proximity Operations

Adaptive End-to-End Architecture for Autonomous Spacecraft N...

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AIAA SciTech Forum

作者： Kruger, Justin Guffanti, Tommaso Park, Tae Ha Murray-Cooper, Mason Low, Samuel Bell, Toby D'Amico, Simone Roscoe, Christopher Westphal, Jason Stanford Univ Stanford Space Rendezvous Lab Stanford CA 94305 USA Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA Ten One Aerosp Washington DC 20002 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Onboard guidance, navigation, and control (GNC) during rendezvous and proximity operations (RPO) between spacecraft poses unique challenges for associated algorithms. Future missions will require greater on-board autonomy while maintaining in-orbit safety guarantees at varying distances, and scenarios of interest may feature multiple spacecraft which may be cooperative or non-cooperative. This paper presents the conception and development of a new GNC software payload for distributed space systems, which enables safe, autonomous RPO between multiple objects with maximum flexibility and modularity. navigation algorithms fuse far-range camera images, close-range camera images, differential carrier-phase Global navigation Satellite System data, and inter-satellite crosslink data to estimate absolute orbits, relative orbits, target pose, and auxiliary states across the entire regime of interest. A control algorithm suite provides optimal maneuver solutions for efficient long-term formation maintenance at far range, centimeter-level rendezvous accuracy at close range, and fast, robust collision avoidance. Prototype simulations featuring cooperative and non-cooperative targets at far, medium and close ranges demonstrate highly capable GNC performance for distributed space systems, and are a significant step towards achieving complete integration of a flexible autonomous RPO kit for spacecraft.

关键词： Global navigation Satellite System Guidance, navigation, and Control Satellites Collision Avoidance navigation algorithm Distributed Space Systems Control algorithm Autonomous Spacecraft navigation Model Predictive Control Orbit Determination

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Hardware-in-the loop testing of crater navigation system for lunar landing

Hardware-in-the loop testing of crater navigation system for...

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AIAA SciTech Forum

作者： Woicke, Svenja Krueger, Hans German Aerosp Ctr Inst Space Syst Deutsch Zentrum Luft & Raumfahrt Dept Nav & Control Syst Robert-Hooke-Str 7 Bremen Germany

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

At the German Aerospace Center a Crater navigation System has been developed over the last years. So far, its overall performance on challenging use-cases such as South Pole landings as well as on the real flight data from Chang'e-3 has been demonstrated. Here, we focus on showing that the algorithm provides adequate update rates when executed on flight processors. In this paper it is demonstrated that in tracking mode DLR's Crater navigation System provides measurements at a rate higher than 1 Hz on modern flight hardware. It is also shown that DLR's Crater navigation System requires less than 5 s when executed in acquisition mode. In addition this paper presents a real-time hardware-in-the-loop test of the algorithm, combining the aforementioned processor-in-the-loop setup with a real camera and a mock-up of a lunar scene. During this test it has been demonstrated that the system can successfully be operated in real-time and is capable of sustaining the favorable tracking mode during the entire test. This underlines that it is ready to be integrated in real flight systems.

关键词： Lunar Exploration German Aerospace Center Flight Data Robots Precision Landing State Estimation Cumulative Distribution Function navigation algorithm Image Processing Sensor Technology

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GPS-Enhanced Spaceborne Angle-Only Relative navigation with Dual Kalman Filters

GPS-Enhanced Spaceborne Angle-Only Relative Navigation with ...

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AIAA SciTech Forum

作者： Chihabi, Yazan Ulrich, Steve Carleton Univ Dept Mech & Aerosp Engn 1125 Colonel By Dr Ottawa ON K1S 5B6 Canada

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

A novel angle-only relative navigation algorithm that utilizes a dual-Kalman filtering technique using unscented Kalman filters for spacecraft relative motion is proposed in this paper. Specifically, the proposed algorithm takes advantage the chaser's inertial GPS measurements to estimate unmodelled dynamics through a parameter estimator which is then used within a target state estimator. Furthermore, the ballistic coefficients of atmospheric drag and solar radiation pressure for the target are estimated within the algorithm. The proposed solution is evaluated in a highly elliptical orbit scenario and compared against an adaptive unscented Kalman filter employing the same dynamical and measurement models as a benchmark. The dual-Kalman filtering formulation resulted in orders of magnitude increase in estimation accuracy.

关键词： Unscented Kalman Filter Highly Elliptical Orbit Solar Radiation Pressure navigation algorithm Ballistic Coefficient Orbital Elements Target Spacecraft Orbital Period Earth Centered Inertial Formation Flying

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Artemis I Optical navigation System Performance

Artemis I Optical Navigation System Performance

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AIAA SciTech Forum

作者： Inman, Rebecca Holt, Greg Christian, John Smith, Kyle D'Souza, Christopher NASA Johnson Space Ctr Houston TX 77058 USA Georgia Inst Technol Guggenheim Sch Aerosp Engn Atlanta GA 30332 USA Charles Stark Draper Lab Houston TX 77058 USA NASA Langley Res Ctr Houston TX USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper summarizes the assessment of the Optical navigation Flight Test Objective (FTO) during the flight of Artemis I. The Optical navigation (OpNav) System was tested under a variety of range, target, and lighting conditions to evaluate the performance compared to the pre-flight predicted error models. In general, OpNav performed very well-successfully processing over a thousand images of starfields, Earth, and Moon. The performance of the algorithm when processing Moon images matched the pre-flight expected error models. The errors when processing Earth images were notably higher than the preflight models predicted, however this was found to be due to an over-estimation of the atmosphere bias used in the tuning of the algorithm. After the bias was re-tuned and the images reprocessed, performance significantly improved.

关键词： Moon Planets Flight Testing Iterative algorithm Earth Atmosphere Image Processing Thermal Effects Star Tracker navigation algorithm System Architectures

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Lidar-Based Safe Site Relative navigation

Lidar-Based Safe Site Relative Navigation

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AIAA SciTech Forum

作者： Ward, Kari C. Smith, Kyle W. Rowe, Isaac S. Harper, Jeanette M. Adams, Davis W. Pedrotty, Samuel M. Mendeck, Gavin F. Charles Stark Draper Lab Cambridge MA 02139 USA Aerodyne Ind Jacobs JETS II Contract Cape Canaveral IL USA Odyssey Space Res Houston TX USA NASA Johnson Space Ctr Moffett Field CA USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

There has been a renewed focus in exploration of the lunar surface and maximizing scientific potential of such missions is made possible in part by minimizing the time required to set up operations;that is, reducing transit time on the surface by increasing the landing precision with respect to the intended target. Established Safe and Precise Landing-Integrated Capability Evolution (SPLICE) project precision landing requirements necessitate a navigation filter architecture and underlying models developed specifically with these needs in mind. To date, test flights to characterize SPLICE guidance and navigation (GN) system performance have not provided a means to divert from the a priori selected landing site (LS) due to hazardous conditions. With the inclusion of a new sensor, the hazard detection lidar (HDL), coupled with safe landing site selection algorithms, GN can divert from the originally planned trajectory and navigate relative to the new targeted landing site. This work presents a novel hazard relative measurement model and covariance transformation methodology that enable the navigation system to inform a safe-site relative guidance profile to meet project precision landing goals.

关键词： LIDAR Sensors Entry, Descent, and Landing Selection algorithm Extended Kalman Filter Terrain Relative navigation Planets Johnson Space Center Uncertainty Quantification navigation algorithm

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Decentralized cooperative navigation solution for a swarm of UAVs operating in GNSS degraded environment

Decentralized cooperative navigation solution for a swarm of...

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AIAA SciTech Forum

作者： Causa, Flavia Fasano, Giancarmine Bassolillo, Salvatore R. Cicciu, Ferdinando Univ Naples Federico II Dept Ind Engn Ple Tecchio 80 I-80125 Naples Italy MBDA ITALIA SPA Via Monte Flavio 45 I-00131 Rome Italy

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper presents a decentralized cooperative navigation algorithm which can prevent the overall state estimation divergence by providing a good estimate of cross-covariance terms also in architectures which envisage fully connected graphs. i.e., all the intra-agents measurements are used to update the state of the formation. The proposed approach assumes each agent can independently use non cooperative measurements to update its state. Conversely when cooperative measurements are available a platform (which is iteratively chosen among the formation) is selected to collect all the cooperative information, perform the update and communicate the updated state and covariance to its fellows. The cooperative process is innovative with respect to the other works in the open literature which either make empiric approximations so that cross-covariances can be overestimated or perform cooperative updates by iterating on pairs chosen among the available platforms, thus not allowing an exact covariance update. The proposed algorithm is tested on a scenario simulating fixed wing aircrafts and assuming ranging measurements as intra-agents' aid. Other simulated measurements include GNSS, IMU, magnetometer and ranging information with respect to moving landmarks. Results are shown by comparing the performance of the proposed algorithm with the centralized (and thus optimal) architecture. In addition, algorithm working conditions are stressed by considering either platform failure or GNSS measurements and other positioning sources (i.e., moving landmarks) occlusions. The latter condition has been considered to test the behavior of the navigation algorithm when only intra-agents ranging are available to bound the formation's overall navigation error. Results demonstrate the algorithm to perform similar to centralized solution, by mostly depending on the geometry on which the moving landmarks are placed.

关键词： navigation algorithm State Estimation Magnetometers Fixed Wing Aircraft Computing Platform Extended Kalman Filter navigation Performance Communication, navigation and Surveillance Covariance Intersection Accelerometer

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Initial Pole Axis and Spin Direction Estimation of Asteroids Using Infrared Imagery

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2024年第6期47卷 1055-1071页

作者： Kuppa, Koundinya Mcmahon, Jay W. Dietrich, Ann B. Univ Colorado Colorado Ctr Astrodynam Res Aerosp Engn Sci 3775 Discovery Dr Boulder CO 80303 USA Charles Stark Draper Lab Inc GN&C 555 Technol Sq Cambridge MA 02139 USA

Knowing the pole axis of an asteroid is vital to autonomous asteroid exploration efforts. Ground-based initial pole estimation methods are time and data intensive and produce estimates with large uncertainties. These errors have a significant impact on proximity navigation, shape modeling, and scientific data for small body missions. In this paper, a new method of obtaining this information from onboard spacecraft imagery is presented. The proposed method estimates the pole from onboard infrared imagery using the camera-asteroid geometry. This method does not require a prior and is designed to work in a vast majority approach trajectories due to the use of infrared images. The method is applied to simulated infrared images of asteroids 101955 Bennu and 25143 Itokawa as well as real infrared images of asteroid 162173 Ryugu from the Hayabusa2 mission. The average pole errors using this method on Bennu and Itokawa images are approximately 2 and 6 deg, respectively. The pole estimate error on the Ryugu images is approximately 8 deg. The algorithm is shown to be sensitive to the percentage of spin period imaged and the spacing between the images.

关键词： Kuiper Belt Thermal Modeling and Analysis Computer Graphics Image Processing Planetary Science and Exploration Space Missions navigation algorithm spin pole estimation

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