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Prox-1 University-Class Mission to Demonstrate Automated Proximity Operations

JOURNAL OF SPACECRAFT AND ROCKETS 2016年第5期53卷 847-863页

作者： Spencer, David A. Chait, Sean B. Schulte, Peter Z. Okseniuk, Kevin J. Veto, Michael Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA Arizona State Univ Sch Earth & Space Explorat Tempe AZ 85281 USA

The Georgia Institute of Technology Prox-1 mission will demonstrate automated trajectory control in low Earth orbit relative to the deployed LightSail 2 CubeSat for an on-orbit inspection application. Passive thermal imaging provides the basis for a relative navigation system used to provide state estimation and optical tracking of LightSail 2. Automated maneuver planning and execution uses a guidance algorithm based upon relative orbital elements, with persistent collision avoidance using an artificial potential function. Simulation of the closed-loop guidance, navigation, and control system shows that the system is capable of performing automated station-keeping and relative orbit transfers for close-proximity operations. Funded by the U.S. Air Force Office of Scientific Research/ U.S. Air Force Research Laboratory through the University Nanosatellite Program-7, Prox-1 is scheduled to launch in September 2016 as a secondary payload on the Space Test Program-2 launch.

关键词： Small Satellites Air Force Research Laboratory navigation algorithm Resident Space Object Obstacle Avoidance GNC Systems Air Forces Optical Tracking Control Moment Gyroscope ISS

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Predictive Motion Planning with Pipelined Feature-Based Obstacle Avoidance

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2016年第4期39卷 967-975页

作者： Seiferth, Christoph Joos, Alexander Frangenberg, Michael Fichter, Walter Univ Stuttgart Inst Flight Mech & Control D-70569 Stuttgart Germany

An efficient method for the approximate solution of a finite-horizon constrained optimal control problem was proposed that uses quantized and discretized control candidates in such a way that a real-time implementation on a small onboard computer is feasible. For obstacle or collision avoidance, an algorithm using predicted trajectory points and visible three-dimensional features in a point cloud was presented that is suitable for a parallel and pipelined implementation on a field-programmable gate array. This allows for a very large number of obstacles to be checked by using raw sensor data only without further processing. The second option of an obstacle cost function uses a barrier function approach. It is designed so that the cost tends to infinity if the distance between a predicted trajectory point and an obstacle approaches the minimum distance. Choosing this approach helps to influence the flown trajectory, even when the vehicle has a much greater distance to possible obstacles than the minimum distance, since features always introduce costs on a trajectory and not only if the predicted trajectory violates the minimum distance requirement.

关键词： Model Predictive Control Motion Planning Field Programmable Gate Array Flight Testing Optimal Control Quaternions Onboard Computing navigation algorithm LIDAR VTOL

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Spacecraft navigation Using Celestial Gamma-Ray Sources

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2015年第9期38卷 1765-1774页

作者： Hisamoto, Chuck S. Sheikh, Suneel I. ASTER Labs Inc 155 East Owasso Lane Shoreview MN 55126 USA

As the future progresses for space exploration endeavors, spacecraft that are capable of autonomously determining their position and velocity will provide clear navigation advances to mission operations. Thus, new techniques for determining spacecraft navigation solutions using celestial gamma-ray sources have been developed. Most of these sources offer detectable, bright, high-energy events that provide well-defined characteristics conducive to accurate time alignment among spatially separated spacecraft. Using assemblages of photons from distant gamma-ray bursts, relative range between two spacecraft can be accurately computed along the direction to each burst's source based upon the difference in arrival time of the burst emission at each spacecraft's location. Correlation methods used to time-align the high-energy burst profiles are provided. A simulation of the newly devised navigation algorithms has been developed to assess the system's potential performance. Using predicted observation capabilities for this system, the analysis demonstrates position uncertainties comparable to the NASA Deep Space Network for deep-space trajectories.

关键词： Spacecraft navigation Gamma Ray Bursts navigation algorithm NASA Deep Space Network Deep Space Exploration Extended Kalman Filter Earth InterPlanetary Network Burst Alert Telescope Earth Centered Inertial

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Primate-inspired Autonomous navigation Using Mental Rotation and Advice-Giving

Primate-inspired Autonomous Navigation Using Mental Rotation...

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IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Velayudhan, Lakshmi Arkin, Ronald C. Georgia Inst Technol Mobile Robot Lab Atlanta GA 30332 USA

ISBN: (纸本)9781479977727

The cognitive process that enables many primate species to efficiently traverse their environment has been a subject of numerous studies. Mental rotation is hypothesized to be one such process. The evolutionary causes for dominance in primates of mental rotation over its counterpart, rotational invariance, is still not conclusively understood. Advice-giving offers a possible explanation for this dominance in more evolved primate species such as humans. This project aims at exploring the relationship between advice-giving and mental rotation by designing a system that combines the two processes in order to achieve successful navigation to a goal location. Two approaches to visual advice-giving were explored namely, segment based and object based advice-giving. The results obtained upon execution of the navigation algorithm on a Pioneer 2-DX robotic platform offers evidence regarding a linkage between advice-giving and mental rotation. An overall navigational accuracy of 90.9% and 71.43% were obtained respectively for the segment-based and object-based methods. These results also indicate how the two processes can function together in order to accomplish a navigational task in the absence of any external aid, as is the case with primates.

关键词： cognition image segmentation mobile robots navigation object recognition Pioneer 2-DX robotic platform advice-giving cognitive process goal location mental rotation navigation algorithm navigational accuracy object-based method primate species primate-inspired autonomous navigation rotational invariance segment-based method Accuracy Feature extraction Image segmentation Matrix decomposition navigation Object recognition Robots Mental Rotation object recognition navigation image segmentation cognitive process matrix decomposition Mobile robots Robot Feature extraction Primates Cognition object orientation

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Use of Cartesian-Coordinate Calibration for Satellite Relative-Motion Control

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2015年第9期38卷 1842-1846页

作者： Sinclair, Andrew J. Sherrill, Ryan E. Lovell, T. Alan Auburn Univ Dept Aerosp Engn 211 Davis Hall Auburn AL 36849 USA Engil Corp Engn & Program Management Group Eglin AFB FL USA Space Vehicles Directorate Air Force Res Lab Kirtland AFB NM 87117 USA

Presented as Paper 2014-0218 at the AAS/AIAA Space Flight Mechanics Meeting, Santa Fe, NM, 26-30 January 2014

关键词： Satellites Cartesian Coordinates Nonlinear Dynamics Orbital Elements Linear Quadratic Regulator Monte Carlo Simulation navigation algorithm Fuel Consumption Feedback Control Orbital Period

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Angles-Only navigation to a Noncooperative Satellite Using Relative Orbital Elements

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2014年第2期37卷 439-451页

作者： Gaias, G. D'Amico, S. Ardaens, J. -S. German Aerosp Ctr DLR D-82234 Wessling Germany

This work addresses the design and implementation of a prototype relative navigation tool that uses camera-based measurements collected by a servicer spacecraft to perform far-range rendezvous with a noncooperative client in low Earth orbit. The development serves the needs of future on-orbit servicing missions planned by the German Aerospace Center. The focus of the paper is on the design of the navigation algorithms and the assessment of the expected performance and robustness under real-world operational scenarios. The tool validation is accomplished through a high-fidelity simulation environment based on the Multi Satellite Simulator in combination with the experience gained from actual flight data from the GPS and camera systems onboard the Prototype Research Instruments and Space Mission Technology Advancement mission.

关键词： Satellites Orbital Elements Flight Data German Aerospace Center navigation algorithm Space Missions Argument of Latitude Orbit Determination Earth Observability Gramian

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Angles-Only navigation to a Noncooperative Satellite Using Relative Orbital Elements

Angles-Only Navigation to a Noncooperative Satellite Using R...

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AIAA/AAS Astrodynamics Specialist Conference

作者： Gaias, G. D'Amico, S. Ardaens, J. -S. German Aerosp Ctr DLR D-82234 Wessling Germany

ISBN: (数字)9781624101823

ISBN: (纸本)9781624101823

关键词： Satellites Orbital Elements Flight Data German Aerospace Center navigation algorithm Orbit Determination Argument of Latitude Observability Gramian Earth Orbital Rendezvous

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Self-Localization and navigation of Holonomic Mobile Robot using Omni-Directional Wheel Odometry

Self-Localization and Navigation of Holonomic Mobile Robot u...

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IEEE Region 10 Conference (TENCON)

作者： Inthiam, Jiraphan Deelertpaiboon, Chirdpong King Mongkuts Univ Technol North Bangkok Fac Engn Dept Instrumentat & Elect Engn Automat Engn Bangkok Thailand

ISBN: (纸本)9781479940752

This paper proposes a simple but effective self-localization and navigation algorithm for the omni-directional mobile robot equipped with three driving and three odometry wheels. Not only can this technique locates the robot's position, but it can also align its heading with respect to the selected target while navigating along the pre-defined trajectory. With a certain configuration of odometry omni-directional wheels, rotational readings from three encoders attached to these odometry wheels provide linear and angular velocities of the mobile robot. Integrating these velocities would result in position and heading of the mobile robot. As a result, the mobile robot becomes a complete holonomic system. Furthermore, navigation algorithm is illustrated for two cases namely point-to-point and multi-point schemes. Three experimental results are conducted to verify the effectiveness of this algorithm.

关键词： self-localization navigation algorithm omni-directional wheel robot

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On-Line Path Generation for Unmanned Aerial Vehicles Using B-Spline Path Templates

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2013年第6期36卷 1642-1653页

作者： Jung, Dongwon Tsiotras, Panagiotis Korea Aerosp Res Inst Taejon 305333 South Korea Georgia Inst Technol Atlanta GA 30332 USA

The problem of generating a smooth reference path, given a finite family of discrete, locally optimal paths, is investigated. A finite discretization of the environment results in a sequence of obstacle-free square cells. The generated path must lie inside the channel generated by these obstacle-free cells, while minimizing certain performance criteria. Two constrained optimization problems are formulated and solved subject to the given geometric (linear) constraints and boundary conditions in order to generate a library of B-spline path templates offline. These templates are recalled during implementation and are merged together on the fly in order to construct a smooth and feasible reference path to be followed by a closed-loop tracking controller. Combined with a discrete path planner, the proposed algorithm provides a complete solution to the obstacle-free path-generation problem for an unmanned aerial vehicle in a computationally efficient manner, which is suitable for real-time implementation.

关键词： UAV Obstacle Avoidance B Splines Path Planning Sequential Quadratic Programming Linear Interpolation Search algorithm Proximity Sensors navigation algorithm Computer Memory

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Adaptive Glide Slope Control for Parafoil and Payload Aircraft

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2013年第4期36卷 1019-1034页

作者： Ward, Michael Costello, Mark Georgia Inst Technol Guggenheim Sch Aerosp Engn Atlanta GA 30332 USA Georgia Inst Technol Guggenheim Sch Aerosp Engn Woodruff Sch Mech Engn Atlanta GA 30332 USA

The invention of the steerable, gliding, ram-air parafoil enabled the possibility of precision, autonomous aerial payload delivery. Research and development work on guided airdrop systems has focused primarily on evolutionary improvements to the guidance algorithm, although the navigation and control algorithms have changed little since the initial autonomous systems were developed. Recent work has demonstrated the potential for dramatic improvements in landing accuracy through the incorporation of canopy incidence variation to achieve glide slope control for parafoils. The current work presents the development of a control law to implement glide slope control on an autonomous airdrop system. Autonomous landings with the control law in both simulation and flight test demonstrate an improvement in landing accuracy by a factor of two, though the improvement can be even greater in especially windy conditions. Finally, the ability to perform in-flight system identification to adapt internal control mappings to match flight data and provide dramatic improvements in landing accuracy when there is a significant discrepancy between the assumed and actual flight characteristics is demonstrated in both simulation and flight test.

关键词： Parafoil Air Vehicle Flight Test Programme Adaptive Control algorithm Control algorithm Flight Software navigation algorithm Autonomous Systems Airspeed GPS

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