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Robust Estimation of Motion States for Free-Floating Tumbling Target Capture

Gallardo, Abril and Mishra, Hrishik and Giordano, Alessandro Massimo and Lampariello, Roberto (2018) Robust Estimation of Motion States for Free-Floating Tumbling Target Capture. In: IEEE Aerospace Conference Proceedings. 2019 IEEE Aerospace Conference, 2-9 Mar 2019, Yellowstone Conference Center, Big Sky, Montana,.

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In this paper, we propose a novel Extended Kalman Filter (EKF) to aid the capture of a free-floating tumbling satellite (Target) with a manipulator-equipped spacecraft (Servicer) in the close-range reach phase. For such a control problem, the interfacing of a fast-sampled robot controller with a slow-sampled Guidance, Navigation and Control (GNC)-bus on the spacecraft creates a down-sampling in terms of the measured state. This causes a performance loss for the robot controller. Additionally, only slow-sampled and noisy exteroceptive sensors, like a camera, which provides relative poses may be available for feedback. In order to circumvent this problem, the main objective of the proposed method is to provide fast relative state reconstruction between Target and Servicer. To this end, the proposed EKF estimates the inertial motion states of the Target and the Servicer-base at high rate using slow-sampled and noisy exteroceptive measurements, which include relative poses from cameras and absolute orientation from star/sun trackers. The state information is combined with the Inertial Measurement Unit (IMU), forward kinematics (using joint encoders) and a priori known transformations to reconstruct a fast-sampled estimate of the inertial states and hence, the relative states for control. As a robust validation, the results of 100 Monte-Carlo simulation runs are presented. Furthermore, the validity of the proposed EKF is demonstrated by driving it in closed-loop with a combined controller on a Guidance, navigation and control development environment software platform. Through these results, it is shown that the proposed EKF is robust towards camera occlusions and noise. Additionally, the proposed method also estimates the tumbling velocity of the Target for feed-forward in the control method.

Item URL in elib:https://elib.dlr.de/124894/
Document Type:Conference or Workshop Item (Speech)
Title:Robust Estimation of Motion States for Free-Floating Tumbling Target Capture
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gallardo, AbrilAbril.PooGallardo (at) dlr.deUNSPECIFIED
Mishra, Hrishikhrishik.mishra (at) dlr.dehttps://orcid.org/0000-0002-5025-2447
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Lampariello, RobertoRoberto.Lampariello (at) dlr.dehttps://orcid.org/0000-0002-8479-2900
Date:19 October 2018
Journal or Publication Title:IEEE Aerospace Conference Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Kalman Filter, On-Orbit Servicing, Navigation Filter
Event Title:2019 IEEE Aerospace Conference
Event Location:Yellowstone Conference Center, Big Sky, Montana,
Event Type:international Conference
Event Dates:2-9 Mar 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):On-Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mishra, Hrishik
Deposited On:11 Dec 2018 23:05
Last Modified:11 Dec 2018 23:05

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