guidance, navigation, and control (GNC); hardware-in-the-loop (HIL); proximity operations; rendezvous; robot manipulation; software-in-the-loop (SIL); vision-based navigation (VBN); Guidance navigation and controls; Guidance, navigation, and control; Hardware in the loops; Hardware-in-the-loop; Proximity operations; Rendezvous; Robot manipulation; Software in the loops; Software-in-the-loop; Vision based navigation; Vision-based navigation; Aerospace Engineering; Astronomy and Astrophysics; Space and Planetary Science
Abstract :
[en] CubeSats have become versatile platforms for various space missions (e.g., on-orbit servicing and debris removal) owing to their low cost and flexibility. Many space tasks involve proximity operations that require precise guidance, navigation, and control (GNC) algorithms. Vision-based navigation is attracting interest for such operations. However, extreme lighting conditions in space challenge optical techniques. The on-ground validation of such navigation systems for orbital GNC becomes crucial to ensure their reliability during space operations. These systems undergo rigorous testing within their anticipated operational parameters, including the exploration of potential edge cases. The ability of GNC algorithms to function effectively under extreme space conditions that exceed anticipated scenarios is crucial, particularly in space missions where the scope of errors is negligible. This paper presents the ground validation of a GNC algorithm designed for autonomous satellite rendezvous by leveraging hardware-in-the-loop experiments. This study focuses on two key areas. First, the rationale underlying the augmentation of the robot workspace (six-degree-of-freedom UR10e robot + linear rail) is investigated to emulate relatively longer trajectories with complete position and orientation states. Second, the control algorithm is assessed in response to uncertain pose observations from a vision-based navigation system. The results indicate increased control costs with uncertain navigation and exemplify the importance of on-ground testing for system validation before launch, particularly in extreme cases that are typically difficult to assess using software-based testing. (Figure presented.)
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
Muralidharan, Vivek; Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Esch-sur-Alzette, Luxembourg
MAKHDOOMI, Mohatashem Reyaz ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Žinys, Augustinas; Blackswan Space, Vilnius, Lithuania
Razgus, Bronislovas; Blackswan Space, Vilnius, Lithuania
Klimavičius, Marius; Blackswan Space, Vilnius, Lithuania
Olivares-Mendez, Miguel; Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Esch-sur-Alzette, Luxembourg
Martinez, Carol; Space Robotics Research Group (SpaceR), Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Esch-sur-Alzette, Luxembourg
External co-authors :
yes
Language :
English
Title :
On-ground validation of orbital GNC: Visual navigation assessment in robotic testbed facility
This work is supported by the Luxembourg National Research Fund: INTER20/EUROSTARS/15254521/VBN/Olivares Mendez. The project, E115088 - VBN, has received funding from the Eurostars-2 Joint Programme with cofunding from the European Union’s Horizon 2020 Research and Innovation Programme.
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