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Generalized Multi-Impulsive Maneuvers For Optimum Spacecraft Rendezvous

The document presents a planner for generating optimal multi-impulsive maneuver profiles for spacecraft rendezvous. It uses relative orbital elements as state variables and a layered approach to optimize fuel efficiency while meeting time constraints. The planner was developed for autonomous formation flying missions and computes maneuvers to transition between intermediate configurations to reach a final point while minimizing delta-v cost. An example application to a high-altitude rendezvous scenario is provided to demonstrate the planner's capabilities.

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Juan Manuel Mauro
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42 views21 pages

Generalized Multi-Impulsive Maneuvers For Optimum Spacecraft Rendezvous

The document presents a planner for generating optimal multi-impulsive maneuver profiles for spacecraft rendezvous. It uses relative orbital elements as state variables and a layered approach to optimize fuel efficiency while meeting time constraints. The planner was developed for autonomous formation flying missions and computes maneuvers to transition between intermediate configurations to reach a final point while minimizing delta-v cost. An example application to a high-altitude rendezvous scenario is provided to demonstrate the planner's capabilities.

Uploaded by

Juan Manuel Mauro
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Generalized Multi-Impulsive Maneuvers for Optimum Spacecraft Rendezvous

G. Gaias, S. DAmico, J.-S. Ardaens 5th International Conference on Spacecraft Formation Flying Missions and Technologies

Slide1 Munich > 2013/05/30

Contents

Objectives and Motivations Overall Concept of the Maneuvers Planner Description of the Planner Example of a Rendezvous Conclusions and Way Forward

Slide 2 Munich > 2013/05/30

Objectives

Autonomy: simplicity, closed-form solutions

Generation of the open-loop, impulsive maneuvers prole for formation reconguration Realistic operational conditions: fuel efciency safe approach during rendezvous time constraints

Slide 3 Munich > 2013/05/30

Motivations
Autonomous Vision Approach Navigation and Target Identication AVANTI experiment, DLR FireBird Mission Background Spaceborne Autonomous Formation Flying Experiment SAFE, PRISMA mission TanDEM-X Autonomous Formation Flying TAFF system Advanced Rendezvous Demonstration using GPS and Optical Navigation ARGON, PRISMA mission - extended phase (ground-in-the-loop, man-in-the-loop)

Autonomous strategy: on-board guidance, constraints handling

Slide 4 Munich > 2013/05/30

Motivations
Autonomous Vision Approach Navigation and Target Identication AVANTI experiment, DLR FireBird Mission Background Spaceborne Autonomous Formation Flying Experiment SAFE, PRISMA mission TanDEM-X Autonomous Formation Flying TAFF system Advanced Rendezvous Demonstration using GPS and Optical Navigation ARGON, PRISMA mission - extended phase (ground-in-the-loop, man-in-the-loop)

Autonomous strategy: on-board guidance, constraints handling

Slide 4 Munich > 2013/05/30

Motivations
Autonomous Vision Approach Navigation and Target Identication AVANTI experiment, DLR FireBird Mission Background Spaceborne Autonomous Formation Flying Experiment SAFE, PRISMA mission TanDEM-X Autonomous Formation Flying TAFF system Advanced Rendezvous Demonstration using GPS and Optical Navigation ARGON, PRISMA mission - extended phase (ground-in-the-loop, man-in-the-loop)

Autonomous strategy: on-board guidance, constraints handling

Slide 4 Munich > 2013/05/30

Motivations
Autonomous Vision Approach Navigation and Target Identication AVANTI experiment, DLR FireBird Mission Background Spaceborne Autonomous Formation Flying Experiment SAFE, PRISMA mission TanDEM-X Autonomous Formation Flying TAFF system Advanced Rendezvous Demonstration using GPS and Optical Navigation ARGON, PRISMA mission - extended phase (ground-in-the-loop, man-in-the-loop)

Autonomous strategy: on-board guidance, constraints handling

Slide 4 Munich > 2013/05/30

Overall Concept

Relative Orbital Elements ROE as state variables P = = {a, , ex , ey , ix , iy }T a description of each possible conguration

Layered approach P0 PF through intermediate Pi , to optimize a criterion operatives modes: set criterion and evaluation of the relevance of some operational conditions Maneuvers computation and scheduling in compliance with time constraints

Slide 5 Munich > 2013/05/30

Overall Concept

Relative Orbital Elements ROE as state variables P = = {a, , ex , ey , ix , iy }T a description of each possible conguration

Layered approach P0 PF through intermediate Pi , to optimize a criterion operatives modes: set criterion and evaluation of the relevance of some operational conditions Maneuvers computation and scheduling in compliance with time constraints

Slide 5 Munich > 2013/05/30

Use of Relative Orbital Elements


Radial

a e

a a Along-Track a 2a e

= (t t 0 )
t

t0

1 t t2 2 0 0 0 0 0 1 t 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 t 0 0 0 0 0 t 1 0 0 0 0 t 0 0 1 t 0 0 0 0 0 0 1

Cross-Track

a i Along-Track

differential drag

mean J2

Slide 6 Munich > 2013/05/30

Planning: problem statement

Evolution of the motion through (t); effect of the maneuvers at ti : discontinuities in ROE P1 = 1,0 P0 + a( )1 P2 = 2,1 P1 + a( )2

End-conditions: achievement of PF Functional cost, convex form of the ROE jumps over m steps: Jplan =
m T i=1 ( )i ( )i

ROE variations not due to the natural dynamics describes delta-v cost

Slide 7 Munich > 2013/05/30

Planning: problem solution

Generalization of a geometrical approach stepwise reconguration, disturbances compensation Suitable for automatic implementation Framework for further development

Optimality conditions reduce to a linear system in ROE due to: structure of (t) relations between delta-v and ROE

Slide 8 Munich > 2013/05/30

Supported Operative Modes


Modes minimum delta-v direct P0 PF 4 maneuvers maximum observability user dened ti Pi 4 i maneuvers Synergies criterion: minimum delta-v local control method: vT minor cost and best non-instantaneous observability intensify maneuvers activity spread burns over horizon maneuver execution errors large recongurations uncertainty on P0 Motivations absolute min cost Applicability small recongurations accurate P0

Slide 9 Munich > 2013/05/30

Interfaces and Constraints Management


Input: y0, (P,t)0, (P,t)F, Mode

Time constraints

Forbidden time intervals Minimum time to first maneuver Minimum time spacing between maneuvers

Guidance
(Scheduling, Planning, Safety)

P0

P1

P2

PF time

Control
(Maneuvers placement)

t0,2 maneuvers

t2

time

Maneuvers profile

Slide 10 Munich > 2013/05/30

Local control Problem, out-of-plane solution

Out-of-plane solution, deterministic: iy uoop = arctan |vn | = na i ix two options per orbit

Establishment of a (intermediate) reconguration over a control window xed time, xed end-conditions problem jump corrected by disturbances effects over the window = a i i,0i a 0,i a

Slide 11 Munich > 2013/05/30

Local control Problem, in-plane solution


In-plane solution, underdetermined: (minimum 2 impulses required 6 unknowns in 4 equations) selection criterion: minimum delta-v tangential burns autonomy: preference for analytical solutions 3-impulses Multiple (nite number) feasible solutions over [t0w , tw ]: e y u = mod arctan , uipj = u + kj , e x k1 < k2 < k3 selection of one option according to: 1. preference to minor delta-v cost 2. preference to wider spacing between burns

j = 1...3

Slide 12 Munich > 2013/05/30

Safety Concept
e/ i planning Out-of-plane control In-plane control

optimal / sub-optimal

Slide 13 Munich > 2013/05/30

Example of a Rendezvous
Scenario 500 km high 98 degrees inclination Btarget : 0.01 m /kg B/B : 2%
start target 200

Input P0 = [5, 10000, 50, 250, 30, 200] m PF = [0, 3000, 0, 100, 0, 100] m tF : 18 orbits after t0 time constraints, mode: max-observability
Normalized e/i plane 1

300

ae ai [m]

100

80 60 40 20 0 20 0

aa [m]

deltav, vt vn [m/s]

100

200

300 300

200

100

100

200

300

aex aix [m]

12000 10000 8000 6000 4000 2000 0

a [m]


4 4

1 6 8 10 12 14 time [orbital periods] 16 18 20 1 0.04 0.02 0 0.02 0.04 0 2 4 6 8 10 12 14 time [orbital periods] 16 18 20 1

Total deltav: 0.2168 [m/s]

6 8 10 12 14 time [orbital periods]

16

18

20

Slide 14 Munich > 2013/05/30

Conclusions and Way Forward


Impulsive maneuvers planner for formation reconguration realistic operational conditions autonomy: simplicity and determinism AVANTI experiment, DLR FireBird Mission inclusion of constraints of minimum and maximum realizable delta-v consolidate interfaces of the module ight software implementation Further development of the concept (beyond the AVANTI application) introduction of collision-avoidance constraints at the planning level

Slide 15 Munich > 2013/05/30

Conclusions and Way Forward


Impulsive maneuvers planner for formation reconguration realistic operational conditions autonomy: simplicity and determinism AVANTI experiment, DLR FireBird Mission inclusion of constraints of minimum and maximum realizable delta-v consolidate interfaces of the module ight software implementation Further development of the concept (beyond the AVANTI application) introduction of collision-avoidance constraints at the planning level

Slide 15 Munich > 2013/05/30

Generalized Multi-Impulsive Maneuvers for Optimum Spacecraft Rendezvous


Introduction Concept Description Example

[email protected]

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