Hardware-in-the-loop Proximity Operations in Cislunar Space
English
Muralidharan, Vivek[University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >]
Makhdoomi, Mohatashem Reyaz[University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >]
Barad, Kuldeep Rambhai[University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >]
Amaya Mejia, Lina Maria[University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >]
Howell, Kathleen C.[Purdue University - Purdue > School of Aeronautics and Astronautics]
Martinez Luna, Carol[University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >]
Olivares Mendez, Miguel Angel[University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics >]
20-Sep-2022
15
No
International
International Astronautical Congress
18-10-2022 to 22-10-2022
International Astronautical Federation (IAF)
Paris
France
[en] Hardware-in-the-loop ; Near Rectilinear Halo Orbits (NRHOs) ; Circular Restricted Three-body Problem (CR3BP) ; Guidance, Navigation and Control (GNC) ; Proximity Operations ; Rendezvous ; Nonlinear optimal controller ; Linear Quadratic Regulator (LQR) ; Robot Operating System (ROS) ; Pose estimation ; Kalman filter
[en] Space missions to Near Rectilinear Halo Orbits (NRHOs) in the Earth-Moon system are upcoming. A rendezvous technique in the cislunar space is proposed in this investigation, one that leverages coupled orbit and attitude dynamics in the Circular Restricted Three-body Problem (CR3BP). An autonomous Guidance, Navigation and Control (GNC) technique is demonstrated in which a chaser spacecraft approaches a target spacecraft in the southern 9:2 synodic-resonant L2 Near Rectilinear Halo Orbit (NRHO), one that currently serves as the baseline for NASA's Gateway. A two-layer control approach is contemplated. First, a nonlinear optimal controller identifies an appropriate baseline rendezvous path, both in position and orientation. As the spacecraft progresses along the pre-computed baseline path, optical sensors measure the relative pose of the chaser relative to the target. A Kalman filter processes these observations and offers precise state estimates. A linear controller compensates for any deviations identified from the predetermined rendezvous path. The efficacy of the GNC technique is tested by considering a complex scenario in which the rendezvous operation is conducted with a non-cooperative tumbling target. Hardware-in-the-loop laboratory experiments are conducted as proof-of-concept to validate the guidance algorithm, with observations supplemented by optical navigation techniques.
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