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AIAA Aviation Forum

作者： Briggs, Michael M. Castano, Lina M. Morgan, Eric Axient LLC Huntsville AL 35806 USA Axient LLC IR&D Huntsville AL 35806 USA Axient LLC Growth Integrated Force Syst Huntsville AL 35806 USA

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

This work describes an algorithm for GPS denied navigation which uses AI-based pattern matching with Feature-Augmented Terrain Referenced navigation. sUAS-borne radial-scan LiDAR can be used to generate a local high-spatial-resolution point-cloud (LPC) elevation map. This map is then used for onboard/real-time registration to a hybrid elevation map, that integrates high- resolution feature point clouds with lower-resolution terrain elevation maps. This enables geographic location and altitude of the sUAS as measurements for the navigation filter. GPS denied features are then incorporated into autonomous navigation framework.

关键词： LIDAR sensor Autonomous navigation Metadata Unscented Kalman Filter Artificial Intelligence Ground Station Earth Simultaneous Localization and Mapping PX4 Autopilot navigation algorithm

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Starling Formation-Flying Optical Experiment (StarFOX): System Design and Preflight Verification

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JOURNAL OF SPACECRAFT AND ROCKETS 2023年第6期60卷 1755-1777页

作者： Kruger, Justin Koenig, Adam W. D'Amico, Simone Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA Lockheed Martin Sunnyvale CA USA

The Starling Formation-Flying Optical Experiment (StarFOX) is intended as the first on-orbit demonstration of autonomous distributed angles-only navigation for spacecraft swarms. StarFOX applies the angles-only Absolute and Relative Trajectory System (ARTMS), a navigation architecture consisting of three innovative algorithms: image processing, which identifies and tracks multiple targets in images from a single camera without a priori relative orbit knowledge;batch orbit determination, which autonomously initializes orbit estimates for visible swarm members;and sequential orbit determination, which continuously refines the swarm state by fusing measurements from multiple observers exchanged over an intersatellite link. Nonlinear dynamics and measurement models provide sufficient observability to estimate absolute orbits, relative orbits, and auxiliary states using only bearing angles without maneuvers. StarFOX will be conducted using a four-CubeSat swarm as part of the NASA Starling mission, and simulations of experiment scenarios demonstrate that ARTMS meets mission performance requirements. Results indicate that mean bearing angle errors are below 35" (1s), initial target range errors are below 20% of true separation, and steady-state range errors are below 2% (1s). Absolute orbit estimation accuracy is on the order of 100 m. Hardware-in-the-loop tests display robust navigation under a variety of conditions, enabling autonomous, ubiquitous navigation with minimal ground interaction for future distributed missions.

关键词： Satellite Swarm Spacecrafts Swarm Vision Based navigation navigation algorithm Distributed Space Systems Orbit Determination Space navigation Optical Tracking Spacecraft Formation Flying Spacecraft Architecture

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The Epoch-State Filter, Revisited

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2023年第7期46卷 1228-1242页

作者： Carpenter, J. Russell NASA Goddard Space Flight Ctr Space Sci Mission Operat Tech Code 444 Greenbelt MD 20771 USA

The epoch-state filter is a recursive sequential estimator that maintains its state estimate and associated covariance at a fixed time known as the epoch, avoiding the need to propagate the covariance between measurements. Instead, the filter maps measurement innovations from the measurement time to the epoch time, in a fashion similar to a batch estimator. When process noise is present, the epoch time must follow all but at most the penultimate measurement. Revisiting the topic, this paper contributes several variations, including a factorized form, a factorized information form, and sigma-point versions, and provides a number of clarifying illustrative examples.

关键词： Kalman Filter algorithms and Data Structures Mathematical Analysis Celestial Mechanics Satellites Computing and Informatics navigation algorithm

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Spacecraft Rendezvous and Docking with Obstacle Avoidance Using Bounded Buffered Voronoi Cells

Spacecraft Rendezvous and Docking with Obstacle Avoidance Us...

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AIAA SciTech Forum

作者： Chafe, Nolan 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

This work proposes an online autonomous guidance algorithm for rendezvous and docking involving a controlled chaser spacecraft and uncooperative target in the presence of a dynamic obstacle. We propose the Bounded Buffered Voronoi Cell (BBVC), a modified Voronoi Cell bound to a finite region which dynamically adjusts its boundaries between other agents to introduce keep-out-zones around obstacles and targets. The chaser navigates to local targets within its BBVC, thereby avoiding collisions, as it navigates to and eventually docks with its target. This guidance algorithm is simulated to demonstrate its ability to generate collision-free paths.

关键词： Model Predictive Control Spacecraft Rendezvous navigation algorithm Target Spacecraft Collision Avoidance Path Planning Mobile Robots MATLAB Spacecraft Proximity Operations Dijkstra's algorithm

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Performance Analysis of a Dual Quaternion Guidance algorithm applicable during Lunar Approach with a Hazard Avoidance Maneuver

Performance Analysis of a Dual Quaternion Guidance Algorithm...

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AIAA SciTech Forum

作者： Doll, Javier A. Wagner, Samuel T. Fritz, Matthew P. Jang, Jiann-Woei Harper, Jeanette M. Smith, Kyle W. Acikmese, Behcet Pedrotty, Samuel M. Mendeck, Gavin F. Charles Stark Draper Lab Cambridge MA USA NASA Johnson Space Ctr Washington DC 20546 USA Odyssey Space Res Houston TX USA Univ Washington Seattle WA 98195 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

There is currently a need for advanced guidance and targeting algorithms that can provide real-time trajectories in the presence of state and vehicle constraints during powered descent. The Safe & Precise Landing Integrated Capabilities Evolution (SPLICE) program aims to mature Hazard Detection (HD) technology along with advanced navigation and guidance algorithms. This paper will report the overall performance of the SPLICE Dual Quaternion Guidance (DQG) algorithm which is a 6-Degree-of-Freedom (6-DOF) convex optimization-based guidance algorithm that can enforce multiple vehicle and state constraints required for Hazard Detection Lidar (HDL) scans during the approach phase. DQG was tested in a closed-loop lunar descent simulation with realistic HDL sensing constraints in a Monte Carlo assessment of 1000 dispersed runs.

关键词： navigation algorithm Dual Quaternions Three Degrees of Freedom Linear Time Invariant Convex Optimization LIDAR algorithm Performance Guidance, navigation, and Control Propellant Slosh Attitude Control System

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Enhancing Target Acquisition in Long-Range Missiles through Multi-Sensor Fusion

Enhancing Target Acquisition in Long-Range Missiles through ...

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AIAA SciTech Forum

作者： Schneider, Marc Fichter, Walter Univ Stuttgart Inst Flight Mech & Controls Pfaffenwaldring 27 D-70569 Stuttgart Germany

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Long-range missiles cannot lock onto their target at launch. Instead, they rely on estimates of the line-of-sight between the missile and the target to orient their seeker head toward the target when entering seeker range. Whereas inertial navigation, which works by integrating the angular rates and specific forces measured by the inertial measurement unit, is sufficient for short ranges, sensor drift and initialization errors render this method unusable for longer ranges due to large errors in the line-of-sight. Therefore, a navigation algorithm is proposed that additionally uses measurements of the fire-control radar with respect to the missile and the target, as well as satellite navigation in a multiplicative extended Kalman filter to estimate the state of the missile and the target. Furthermore, the misalignment of the radar station is estimated through a novel recursive least squares estimator, thereby reducing the systematic errors in the radar measurement. Monte Carlo simulations show the increased performance of the proposed algorithm, ultimately resulting in a higher number of targets within the seeker's instantaneous field of view. Further simulations demonstrate that the radar range with respect to the missile and the update frequency of the radar measurements can be reduced with almost no reduction in estimation quality. The scalability of the novel estimation method regarding the radar misalignment is proven by simulations with two radars.

关键词： Missiles Sensor Fusion Target Acquisition Fire Control Radar Satellite navigation Inertial navigation navigation algorithm Extended Kalman Filter Inertial Measurement Unit Monte Carlo Simulation

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Autonomous Cooperative Guidance Strategies for Unmanned Aerial Vehicles During On-Board Emergency

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2022年第2期20卷 102-113页

作者： Suresh, Manickam Swar, Sufal Chandra Shyam, Srinivasan Def Res & Dev Org Dev Estab Bangalore 560075 Karnataka India Def Res & Dev Org Aeronaut Dev Estab Bangalore 560075 Karnataka India

This paper presents autonomous guidance strategies for both solo and group of unmanned aerial vehicles (UAVs), to be used when emergency conditions are encountered during mission. Fixed-wing UAVs equipped with batteries that serve as on-board power source are considered. They are also equipped with inertial and supervisory satellite-based navigation system. An emergency condition where limited available on-board power along with nonavailability of both ground command link and satellite-based navigation information is considered. We proposed two guidance strategies, look-lock-land and inject-contribute-exit for single- and multiple-UAV missions. An optimization model is developed to arrive at the maximum area that can be covered by spiral trajectory without violating on-board power constraints. In addition, we also proved that spiral trajectory acts like a circular highway for multiple-UAV missions. algorithms to achieve look-lock-land, inject-contribute-exit and to compute Inertial navigation Systems (INS) error correction factor are discussed. The performance of the proposed autonomous emergency guidance strategies is demonstrated on a sea-based oil-well-monitoring mission.

关键词： Unmanned Aerial Vehicle Inertial navigation System Satellites Flight Control System navigation algorithm Landing Zone Image Processing Payload System Small Unmanned Aircraft System Geographic Information Systems

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Distributed Estimator for Spacecraft Cooperative Localization

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2022年第6期45卷 1166-1171页

作者： Kaptui Sipowa, Hermann McMahon, Jay Univ Colorado Boulder Colorado Ctr Astrodynam Res Dept Aerosp Engn Sci Boulder CO 80309 USA

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A Geomagnetic-based Integrated Architecture for Dead-Reckoning navigation

A Geomagnetic-based Integrated Architecture for Dead-Reckoni...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech Forum)

作者： Cuenca, Andrei Moncayo, Hever Embry Riddle Aeronaut Univ Dept Aerosp Engn Adv Dynam & Control Lab 1 Aerosp Blvd Daytona Beach FL 32114 USA

ISBN: (数字)9781624106095

ISBN: (纸本)9781624106095

The dependence of modern navigation methods on global positioning systems has led to developing alternative algorithms for localization, capable of providing reliable and robust estimations. Global position system can supply real-time position and velocity information, however, its accuracy can be compromised by external operational effects such as signal availability, cyber-attacks, or weather conditions. This paper presents an integrated navigation architecture based on geomagnetic contour referencing capable of dead reckoning at GPS denied intervals. A geomagnetic matching algorithm based on iterative closest contour point, combined with a nearest Euclidean distant point is used as geomagnetic position measurement in an Extended Kalman Filter sensor fusion scheme, yielding to a robust navigation alternative for GPS denied environments.

关键词： Dead Reckoning Global Positioning System Extended Kalman Filter Inertial Sensor algorithm Performance Inertial navigation System navigation algorithm Numerical Simulation Earth's Magnetic Field Magnetometers

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Autonomous Exploration of a Small Near-Earth Asteroid

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2021年第4期44卷 701-718页

作者： Takahashi, Shota Scheeres, Daniel J. Univ Colorado Ann & HJ Smead Aerosp Engn Sci Dept 3775 Discovery Dr Boulder CO 80309 USA

Asteroid exploration missions must deal with large uncertainties in a target body's gravity and shape as well as ephemeris errors upon rendezvous. navigation and guidance are typically performed using ground-based operations, which can be costly. This paper studies the possibility of removing the ground in the process through onboard navigation with optical measurements and accelerometer-based.V measurements. The paper first describes the dynamics and measurement models used to simulate a spacecraft's interaction with the asteroid environment, followed by implementation details of navigation and guidance subsystems. The paper then presents a covariance analysis of this problem using simplified dynamics, focusing on the information content of the optical and.V measurements. Guided by this, an end-to-end autonomous exploration scheme with onboard navigation and eventdriven orbit control is analyzed through simulation, introducing realistic errors between the truth and filter dynamics. The basic operations of this scheme are built around near-inertial hovering and include approach from the end of an interplanetary phase, reconnaissance at various viewing geometries, close gravity estimation, and orbit insertion. The feasibility of the proposed autonomous navigation and orbit control is evaluated using a Monte Carlo analysis and is shown to be robust.

关键词： Asteroids Earth Accelerometer Monte Carlo Simulation Autonomous navigation Extended Kalman Filter navigation algorithm Newton Raphson Method Dirac Delta Function Interplanetary Trajectories

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