Alternatives for Autonomous Navigation of Small Solar ... · Separation of payload critical modules...
Transcript of Alternatives for Autonomous Navigation of Small Solar ... · Separation of payload critical modules...
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Alternatives for Autonomous Navigation of Small Solar System Explorers
G. González Peytaví, A. Probst, T.P. Andert, B. Eissfeller, R. Förstner
5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May 2016
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
• Distributed networks in Solar system exploration
• Autonomous navigation – What for?
• AutoNav alternatives – Absolute navigation – Relative navigation
• Evaluation of alternatives
Outline Alternatives for Autonomous Navigation of Small Solar System Explorers
The next 20 minutes…
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Increase spatial
coverage
Cooperative Remote Sensing
Increase temporal coverage
Larger baselines
Multi-node experimentation
Controlled baselines
Separation of payload
critical modules
Mission safety Spatially
distributed redundancy
5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Distributed networks in Solar system exploration Alternatives for Autonomous Navigation of Small Solar System Explorers
Cooperative Scientific Exploration and Prospection
Attractive solution • reduced launch mass
increments
Strong dependency on SC master • Propulsion • Communication • Navigation
Interplanetary CubeSat Networks
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Autonomous Navigation – What for? Alternatives for Autonomous Navigation of Small Solar System Explorers
During interplanetary cruise
Self-reliant course corrections
Independent targeting/observation sequences
Reduce contact to ground-control for orbit determination
During proximity operations
Near-real time mission planning
Independent surface targeting/observation sequences
Support investigations of trajectory perturbing phenomena
(gravity, radiation, drag, etc.)
Why AutoNav?
𝑂 𝒓� = 100 𝑘𝑘 ,3𝜎 trajectory planning 𝑂 𝒓� = 10 𝑘𝑘 , 3𝜎 rendezvous planning
𝑂 𝒓� = 1⋯100 𝑘𝑘 ,3𝜎 during fly-by 𝑂 𝒓� = 100 𝑘 , 3𝜎 small-body orbiting 𝑂 𝒓� = 1 𝑘 , 3𝜎 small-body landing
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Absolute Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Absolute Navigation
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Absolute Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Pulsar-based Navigation
Ray et al., 2006
Optical Solar Interferometry
Celestial Navigation
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Absolute Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Optical Solar Interferometry
CCD detector Sun entrance
Star-light entrance
Attenuator
Coupled Sun Star Tracker
LOS Velocity Signal Frequency Doppler Shift fD
1 mm/s 8x109 Hz (radio) 0.027 Hz
1 mm/s 5x1014 Hz (visible) 1667 Hz
• Modes: – Sun imager – Sun line-of-sight – Conventional imaging system
(Wide-angle camera)
𝑓𝐷𝐷𝐷𝐷𝐷𝐷𝐷 = 𝑓𝑣𝑐
Resonance Scattering Interferometer
Helioseismic and magnetic Imager (HMI) aboard the Solar Dynamics Observatory. Scherrer, 2005
σ = 0.026 rad σ = 1 cm/s
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Absolute Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Optical Solar Interferometry + Celestial Navigation
Cruise Nav.
EKF Particle Filter
�̅�𝑠𝑠 , �̅�𝑠𝑠
Resonance Scattering Interferometer
Coupled Sun Star Tracker
WA Camera
�̅�𝐷𝑟𝑟𝑟𝑟𝐷
𝑙�̅�𝑠𝑠
𝑙�̅�𝐷𝑟𝑏
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Absolute Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Optical Solar Interferometry + Celestial Navigation
3σ after 5 yrs UKF PF
15 m
in
𝑂 𝒓� km 126.7 39.0
𝑂 𝒓�̇ km/s 151.1 53.6
24 h
r 𝑂 𝒓� km 207.3 167.9
𝑂 𝒓�̇ km/s 39.3 57.4
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Absolute Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Pulsar-based Navigation
NICER X-ray Timing Instrument Source: NASA
3D Position error < 5km with simultaneous observation of 3 pulsars following ROSETTA trajectory (Simulations) Bernhardt, M. G. Bad Honnef ,2015
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Relative Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Relative Navigation
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Relative Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Surface landmark tracking
Global model matching
Shape Model
Simultaneous Localization and Mapping
Visual Odometry
• Optical Camera • Imaging LiDAR
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Relative Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
LIDAR Point Cloud Matching
Image: Courtesy of H. Gómez (ISTA)
Light Curves
Source: Dr. T.M.Ho (DLR-Planetenforschung)
Asteroid 2008 TC3
Image Matching – Bundle adjustment
Images: Courtesy of R. Jacob (ISTA)
Navigation side-product: Object state estimation
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Alternatives – Relative Navigation Alternatives for Autonomous Navigation of Small Solar System Explorers
Grid-information maps
• Hazards • Fuel • Landing sites • Terrain slope
Shape reconstruction
Navigation side-product: Target modelling
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5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May, 2016
Evaluation of Alternatives Alternatives for Autonomous Navigation of Small Solar System Explorers
Criteria Ground-based Radio
Optical Solar Interfer.
Optical Celestial Nav.
Pulsar-based Nav.
Optical Odometry
with Cameras
Optical Odometry with LiDAR
On-board autonomy No Yes Yes Yes Yes Yes
TRL 9 3-4 5-6 5-6 7-8 5-6
Navigation accuracy 10-100 km 300 km 100 - 1000 km 5 – 100 km 100 km - 1 m 1m – 10cm
SoA Power demands 1 kW 100 W 10 - 15 W 15 W 10 – 15 W 5 – 10 kg
SoA Mass demands 10 kg 50 kg 5 – 10 kg 10 – 15 kg 5 – 10 kg 30 – 40 W
Illumination dependant
No Yes Yes No Yes No
Scale Invariant No No No Yes No Yes
Spatial range > 15 AU 4-5 AU 2-3 AU Solar system
< 1000 km < 2-5 km
Development costs
Sensor/Payload reusability
Radio Comm., Radio Science
Sun attitude Imaging, Astronomy
X-ray or Radio
astronomy
Mapping Opt. Comm. Terminal and
Mapping
System complexity Low High Medium High Medium Medium
Other requirements - Thermal Thermal Timing , Thermal, Long
obs.
Thermal Pointing
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Alternatives for Autonomous Navigation of Small Solar System Explorers
G. González Peytaví, A. Probst, T.P. Andert, B. Eissfeller, R. Förstner
5th Interplanetary CubeSat Workshop, Oxford, UK, 24-25 May 2016