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检索条件"机构=Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration"

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Task oriented on-board planning approach for mars rovers 68

Task oriented on-board planning approach for mars rovers

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68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017

作者： Jin, Hao Xu, Rui Xu, Wenming Cui, Pingyuan School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

ISBN: (纸本)9781510855373

Operations of conventional spacecraft used to be planned on ground and are uploaded as telecommands and executed on board at due time. However, because of difficulties in communicating with devices on remote planets, direct human control for rovers is infeasible, and rovers must be able to act autonomously for substantial periods of time. Also, on planetary surfaces such as Mars, there are uncertainties about the terrain, meteorological conditions, and the state of the rover itself (solar panels, battery charge, etc.). In order to support Mars exploration missions in China, automated planning offers great promise in enabling autonomous deep space operations, and is required to enhance security and robustness of Mars rovers. Typically, daily plans of rovers involve on several tasks, which should be significantly ordered to maximize the amount of science return. And we then present our task oriented planning approach for Mars Rovers. In addition, we arrange the early detection techniques of task dependencies into our planning approach, and accomplish tasks in the correct order to avoid the overhead of unnecessary backtracking. The key technique we build on is the designed task-achievement graph in a timeline-based search under the task orders. Finally, we run comprehensive experiments on Rover domain and experimental results demonstrate the effectiveness of our techniques. © Copyright 2017 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Rovers

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Flexible execution of temporal plans with uncertainty for autonomous spacecraft 71

Flexible execution of temporal plans with uncertainty for au...

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71st International Astronautical Congress, IAC 2020

作者： Li, Zhaoyu Xu, Rui Cui, Pingyuan Zhu, Shengying School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

In current and future space applications, on-board autonomy is needed for spacecraft operation. In traditional telemetering and remote control method, predefined sequences of executed commands are made on the ground and can fulfil the needs for satellites in predictable contexts. However, this approach is not suitable for spacecraft operating in partially observable, unknown or unpredictable environment, such as deep space exploration. In such a case, robust plan execution is a key technology to operate robustly dealing with context uncertainty outside ground contact, based on flexible plans generated by a planner. In order to support autonomous operation of deep space probe and funded by National Natural Science Foundation of China, this paper focus on a robust execution strategy of temporal plans with uncertainty for autonomous operation. First, a control framework of execution is proposed and control cycles are given to determine advancement of time and reactivity frequency. In the framework, executable time and temporal constraints are represented by simple temporal network with uncertainty to check dynamic controllability. Then, causal relations between actions are transformed into conditions on arcs in the network, which can represent logic relationship among executable operations of the probe. Next, three types of actions are defined including controllable, uncontrollable and partially controllable actions, to describe uncertainty from environment and system. At the same time, relate different strategies to control these actions are given for the achievement of flexible execution. Finally, experiments on domains about deep space exploration are run and results indicate our technology can improve the robust of execution and further guarantee the achievement of mission goals. © 2020 by the International Astronautical Federation (IAF). All rights reserved.

关键词： space applications

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Radiometric measurement based navigation and performance trend for Mars landing 67

Radiometric measurement based navigation and performance tre...

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67th International Astronautical Congress, IAC 2016

作者： Yu, Zhengshi Cui, Pingyuan Zhu, Shengying Gao, Ai Rong, Jili School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

Future Mars landing missions will require the capability of precisely landing at certain site of special scientific interests to gather more valuable scientific materials. autonomous navigation in the Mars approach, entry, and landing plays an important role in fulfilling a precision landing mission. To improve the performance of traditional dead reckoning based navigation approach, radiometric measurement based navigation scheme has been proposed. However, there are no sufficient number of beacons capable of navigation. Therefore the navigation scheme has to be optimized in order to use the limited information efficiently. This paper aims to analyze the feasibility and performance of the radiometric measurement based navigation scheme in the Mars approach, entry, and powered descent phases. Furthermore, a novel performance based optimization method for navigation scheme is proposed. The observability of navigation system is used as an index describing the navigation capability. Focusing on the relationship between the configuration of radio beacons and observability, the Fisher information matrix is introduced to analytically derive the degree of observability in each phase, which gives valuable conclusions for navigation system design. In order to improve the navigation performance, the navigation scheme is optimized via two different approaches based on the observability. Firstly, the configuration of beacons is optimized using genetic algorithm, which gives the best locations of beacons (or the best orbit of navigation orbiters). This is the main approach to improve the navigation capability. Secondly, if the locations of beacons are fixed and not optimal, the trajectory of spacecraft is then optimized using pseudospectral method to further improve the acquisition efficiency of navigation information. Numerical simulations of Mars approach, entry, and powered descent phases demonstrate the feasibility and significance of proposed approaches for the optimization

关键词： Location

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Distributed Guidance for Flexible spacecraft Landing on Asteroid 73

Distributed Guidance for Flexible Spacecraft Landing on Aste...

引用

73rd International Astronautical Congress, IAC 2022

作者： Zhang, Chengyu Liang, Zixuan Cui, Pingyuan Ge, Dantong School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

For the microgravity asteroid, even small residual impact energy may cause the spacecraft to bounce and overturn, triggering unexpected events. To suppress the rebound and overturn, a flexible spacecraft concept has been proposed. Nevertheless, a strong coupling exists between the rotational and translational dynamics of the flexible spacecraft. In this paper, a distributed guidance law is developed to control the overall flexible spacecraft's orbit and attitude motion simultaneously through the coordination of the motion of mass blocks. The composite motion of mass blocks can approximate the overall motion of the flexible spacecraft, and the relative height difference of mass blocks can also reflect the attitude of the flexible spacecraft. Therefore, the working principle of the integrated translation and rotation distributed guidance scheme is that each localized controller cooperates to adjust the relative height difference and composite motion of mass blocks. To qualitatively characterize the effort required to adjust the relative altitude difference, a pseudo-attitude control effort index is derived, which is a function of the relative altitude difference. By weighting the attitude control effort index into the minimum orbit control efficiency index, an analytical distributed guidance law is obtained, which guarantees the near-fuel optimality. Monte Carlo simulations show that the attitude requirement of the flexible spacecraft can be realized during landing. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Orbits

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Constrained Unscented Kalman Filtering with Improved Reliability for Small Celestial Body Relative navigation 74

Constrained Unscented Kalman Filtering with Improved Reliabi...

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74th International Astronautical Congress, IAC 2023

作者： Che, Mingzhen Chen, Zelong Ge, Dantong Department of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

Constrained filtering problems are ubiquitous in deep space exploration missions. Through integrating physical constraints into the estimation framework, the performance of the filtering algorithm may be improved. For constrained filtering problems, the estimated state should always satisfy the constraints. To this end, one useful technique is to construct a constrained least square problem to restrain the estimated state within the constraint region. Moreover, for constrained UKF, which is applicable to many nonlinear spacecraft systems, the sigma points are also required to stay within the constraint region. In previous studies, this is done by introducing a scaling parameter in unscented transformation to project the sigma points to the constraint region while preserving their statistical properties. Unfortunately, the sigma points will degrade after scaling if the constrained estimation from the last step is on the boundary of the constraints. The degradation will significantly increase the error in prediction covariance, which will further lead to unreliable state estimations or even failure of the UKF with scaled unscented transformation. To address this problem, a new sigma point projection method for constrained UKF is developed in this paper. Instead of directly projecting the unconstrained sigma points to the real constraint region, a redundant term is first introduced to construct a relaxed constraint boundary. Then, a non-zero scaling parameter is optimized taking into account both the new constraint boundary and limits on the scaling parameter. The optimal scaling parameter is used in the projection of the unconstrained sigma points so that degradation of the sigma points can be avoided. The proposed sigma point projection method is further incorporated into a constrained UKF to generate precise state estimations. Finally, the effectiveness of the proposed filtering algorithm is verified through numerical simulations in a small celestial body relative n

关键词： Flexible constraint Relaxed boundary Scaled factor Unscented Kalman filter

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Rapid Repair Method for spacecraft Plan Failures using Temporal Decoupling Strategy

Rapid Repair Method for Spacecraft Plan Failures using Tempo...

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2024 IAF space Operations Symposium at the 75th International Astronautical Congress, IAC 2024

作者： Li, Shizhen Xu, Rui Li, Zhaoyu Zhu, Shengying School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China

ISBN: (纸本)9798331312183

There are various uncertainties in space exploration missions, which have a significant impact on plan execution and may result in plan failures. Most of the impacts of uncertainties can be summarized as the temporal uncertainty of action and the uncertainty of action's effects caused by the temporal uncertainty. In such case, remote control from the Earth cannot handle that problem in time, especially in deep space missions, due to the long distance between the spacecraft and the ground station. Therefore, this paper proposes a rapid plan repair method for spacecraft plan failures using temporal decoupling strategy, which enables the spacecraft to repair the failed plan autonomously and quickly while executing part of the plan. First, a decoupling strategy of temporal constraint network for failed plan is designed. In order to enable the spacecraft to continue executing some actions when the plan failures, the inexecutable actions in the failed plan are detected based on the causal relationship between the failed actions and the plan. And the temporal network of the failed plan is decoupled into a consistent network with executable actions and an inconsistent network with inexecutable actions by temporal constraint reasoning. Next, a conflict resolution method based on constraint relaxation is proposed for inconsistent temporal network. By analysing the interaction between variables within the network, a support list for domain of variable was constructed. Subsequently, a decremental constraint reasoning algorithm is designed to dynamically relax inconsistent constraints in the support list, thereby rapidly repairing the inconsistent temporal network. Then, a fusion method for temporal network based on the optimization of execution time is proposed, which integrates the repaired network with the executing network, enabling the spacecraft to repair the failed plan while continuing to execute some operations. Finally, experiments on domains about small celestial body

关键词： space research

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Intelligent cooperative control method for flexible probe landing on small celestial bodies 74

Intelligent cooperative control method for flexible probe la...

引用

74th International Astronautical Congress, IAC 2023

作者： Lu, Bingjie Liang, Zixuan Zhu, Shengying School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Beijing Institute of Technology Ministry of Industry and Information Technology Beijing100081 China

A novel flexible landing scheme is recently proposed to achieve soft landing on small celestial bodies. Limited by the special configuration and influenced by the flexible deformation, the attitude control of the flexible probe is challenging. To achieve a stable attitude maneuver, an intelligent cooperative control method is investigated for the flexible probe. Firstly, an equivalent model is established characterizing the flexible probe's attitude by the difference of the nodes' altitude. Then, a compensation-feedback control law of the nodes' altitude difference is designed. The compensation term trains a deep learning network to offset the internal force caused by the flexible deformation. The feedback term using a sliding mode control to converge on the desired nodes' altitude difference. Simple allocation law is given to coordinate the thruster of each node to execute the control command. Simulation results show that the proposed method can coordinate the limited control ability of the multiple thrusters. and control the probe's attitude steadily during the flexible landing. Copyright © 2023 by the International Astronautical Federation (IAF). All rights reserved.

关键词： cooperative control flexible probe intelligent attitude control small body landing

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Earth-phobos transfer with ballistic trajectory in the sun-mars system

Earth-phobos transfer with ballistic trajectory in the sun-m...

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AIAA space and Astronautics Forum and Exposition, 2018

作者： Li, Xiangyu Qiao, Dong Beijing Institute of Technology School of Aerospace Engineering Beijing100081 China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China Key Laboratory of Spacecraft Dynamics and Control Ministry of Education Beijing100081 China

ISBN: (数字)9781624105753

ISBN: (纸本)9781624105753

In this paper, the low-cost Earth-Phobos transfer is designed by using the ballistic trajectory in the Sun-Mars system. The spacecraft is firstly captured at a low altitude into a high eccentricity ballistic trajectory, which naturally changes its orbit elements under the solar perturbation. When the ballistic trajectory has the same periapsis distance and inclination as Phobos orbit, the spacecraft will be captured into the target orbit. The property and design procedure of the proposed transfer is discussed. A two-direction shooting scheme and apoapsis Poincaré map are used to find the low-cost transfer opportunity. The two-steps differential correction strategy is applied to match the apoapsis states and a small correct maneuver is added to increase the flexibility of the ballistic transfer. Finally, the integrated trajectory design including interplanetary transfer, ballistic transfer and Phobos insertion is represented. By utilizing Sun’s gravity, the ballistic transfer requires less velocity increment than traditional transfer. It also provides multiple transfer opportunities and flexible periapsis conditions, which can provide a reference for the future Phobos exploration missions. © 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Ballistics

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Extended state observer-based model predictive control in mars powered descent

Extended state observer-based model predictive control in ma...

引用

AIAA Guidance, navigation, and control Conference, 2018

作者： Ge, Dantong Cui, Pingyuan School of Aerospace Engineering Institute of Deep Space Exploration Beijing Institute of Technology Mailbox 22 Beijing100081 China School of Aerospace Engineering Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Beijing100081 China School of Aerospace Engineering Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education Mailbox 22 Beijing100081 China

ISBN: (数字)9781624105265

ISBN: (纸本)9781624105265

Planetary landing process is usually accompanied with potential risks of failure owing to adversarial factors. In particular, environment disturbances during Mars powered descent may lead to unexpected consequences and threaten landing safety. To mitigate the harmful influences and generate suitable commands that transfer the vehicle to the designated landing site without violation of any engineering constraints, the disturbances should be considered in the controller design process. In this paper, the powered descent problem is formulated as an optimal control problem on the receding horizon and the descent trajectory is generated in real-time via nonlinear model predictive control. An extended state observer is employed in the open-loop system to assess and compensate for environmental disturbances. A simulation based on the Mars landing scenario is carried out and the result shows that the proposed method manages to realize a safe landing despite of unexpected disturbances. It enhances system robustness against model uncertainties and improves safety of the landing mission. © 2018 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Model predictive control

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autonomous Optical navigation Approach Aided by Radio Beacon for deep space spacecraft

Autonomous Optical Navigation Approach Aided by Radio Beacon...

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第28届中国控制与决策会议

作者： Jing Yan Zhu Shengying Wang Lina School of Aerospace Engineering Beijing Institute of Technology Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information Technology Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education National Key Laboratory of Science and Technology on Aerospace Intelligence Control

ISBN: (纸本)9781467397155

According to task requests of deep space exploration approach phase such as autonomy,real-time and so on,we did a research into the problem of autonomous navigation at this approach phase and put forward an autonomous navigation project which made use of radio beacon and navigation camera to determine relative position and velocity of the *** radio beacon could measure its distance to the spacecraft and the navigation camera could acquire the line-of-sight vector to the *** kalman filter we could get the spacecraft's state *** observability degree of the navigation system was increased by importing a new *** order to verify the performance of this autonomous navigation system,simulink tests based on the practical data of deep Impact mission were carried *** results show that the presented method can not only meet navigation requests of approach phase but also gain the navigation system observability degree.

关键词： optical navigation deep space explorer radio ranging kalman filter

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