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Histogram Filter for Attitude Determination of Small Asteroid Lander

Schlotterer, Markus and Findlay, Ross and Ho, Tra-Mi and Witte, Lars and Ziach, Christian (2014) Histogram Filter for Attitude Determination of Small Asteroid Lander. In: 9th International ESA Conference on Guidance, Navigation & Control Systems. 9th International ESA Conference on Guidance, Navigation & Control Systems, 2.-6. Juni 2014, Porto, Portugal.

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Abstract

The Mobile Asteroid Surface Scout (MASCOT) is a small landing package build by the German Aerospace Center (DLR) jointly with the French Space Agency (CNES). MASCOT will fly onboard the Japanese space probe Hayabusa-II, built by the Japan Aerospace Exploration Agency (JAXA) and is scheduled to be launched in late 2014 on a 5-year sample return mission to the Near-Earth Asteroid 1999 JU3. The lander is equipped with four science instruments which will take detailed close-up pictures and make a variety of in-situ measurements. MASCOT has a cubic shape roughly 29 cm x 27,5 cm x 20 cm and weighs about 10 kg. An internal mechanism with an eccentric tappet can be used to reorient MASCOT if needed and relocate to a different site to increase its investigation area. After the arrival and a characterization of the asteroid, MASCOT will be dropped from the Hayabusa-II mothership and will land passively on the asteroid surface. Before starting science measurements MASCOT must lie on the correct side. The attitude determination system consists of 2 types of sensors: solar cell based sun sensors on each side of MASCOT as well as 5 optical proximity sensors (OPS). The latter consists of an LED and a photodiode which can detect the reflected LED light when MASCOT is in proximity to the surface. A histogram filter is used for attitude determination and multi sensor data fusion. It is a bayesian filter used to estimate states which can be divided in a finite number of possible values. This is useful for MASCOT since all that is needed is an estimation of the side on which it is lying. This paper focuses on the attitude determination system of MASCOT. It describes the attitude determination sensors and the details of the filter algorithm. It also presents simulation results for system verification, as well as planned Monte-Carlo simulation and Hardware-in-the-Loop tests.

Item URL in elib:https://elib.dlr.de/90209/
Document Type:Conference or Workshop Item (Speech)
Title:Histogram Filter for Attitude Determination of Small Asteroid Lander
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schlotterer, MarkusDLR Bremen, Markus.Schlotterer (at) dlr.deUNSPECIFIED
Findlay, RossDLR-Bremen, ross.findlay (at) dlr.deUNSPECIFIED
Ho, Tra-MiDLR Bremen, tra-mi.ho (at) dlr.deUNSPECIFIED
Witte, LarsDLR Bremen, lars.witte (at) dlr.deUNSPECIFIED
Ziach, ChristianDLR Bremen, Christian.Ziach (at) dlr.deUNSPECIFIED
Date:June 2014
Journal or Publication Title:9th International ESA Conference on Guidance, Navigation & Control Systems
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:histogram filter, attitude determination, bayesian filter, MASCOT, asteroid lander
Event Title:9th International ESA Conference on Guidance, Navigation & Control Systems
Event Location:Porto, Portugal
Event Type:international Conference
Event Dates:2.-6. Juni 2014
Organizer:ESA
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Science and Exploration
DLR - Research area:Raumfahrt
DLR - Program:R EW - Erforschung des Weltraums
DLR - Research theme (Project):R - Project MASCOT (old)
Location: Bremen
Institutes and Institutions:Institute of Space Systems
Deposited By: Schlotterer, Dr. Markus
Deposited On:11 Sep 2014 09:56
Last Modified:31 Jul 2019 19:47

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