Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis
| Autor: | John J. Leonard, Timothy P. Setterfield, Emilio Frazzoli, David Miller, Alvar Saenz-Otero |
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| Přispěvatelé: | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology. Department of Mechanical Engineering, Setterfield, Timothy Philip, Miller, David W, Saenz Otero, Alvar, Frazzoli, Emilio, Leonard, John J |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference Computer science Aerospace Engineering Motion (geometry) 02 engineering and technology 01 natural sciences law.invention Computer Science::Robotics 020901 industrial engineering & automation law Mathematics::Metric Geometry Computer vision Electrical and Electronic Engineering Computer Science::Distributed Parallel and Cluster Computing business.industry Applied Mathematics 010401 analytical chemistry Gyroscope Kalman filter Object (computer science) 0104 chemical sciences Space and Planetary Science Control and Systems Engineering Orbit (dynamics) Geostationary orbit Artificial intelligence Actuator business |
| Zdroj: | Tim Setterfield |
| ISSN: | 1533-3884 0731-5090 |
| DOI: | 10.2514/1.g003394 |
| Popis: | Many objects in space are passive, with unknown inertial properties. If attempting to dock autonomously to an uncooperative object (one not equipped with working sensors or actuators), a motion model is required to predict the location of the desired docking location into the future. Additionally, for cooperative satellites that failed to deploy hardware, accurate knowledge of the object’s principal axes and inertia ratios may aid in diagnosing the problem. This paper develops algorithms for estimation of the analytical motion model, principal axes, and inertia ratios of a passive on-orbit object. The polhode of the object is estimated visually (for uncooperative targets) or with gyroscopes (for cooperative targets). Estimation of the principal axes is performed by calculating the body frame orientation for which ellipses and hyperbolas optimally fit the projections of the polhode onto the principal planes. Given the polhode in the object’s body frame, constraints are used to restrict the feasible inertia ratios to a single degree of freedom. Constrained optimization is then used to estimate the inertia ratios. The algorithms are validated using visual and gyroscope data from the SPHERES-VERTIGO test platform on the ISS and visual data from simulation. United States. Defense Advanced Research Projects Agency (International Space Station Spheres Integrated Research Experiments (InSPIRE) and InSPIRE II contract NNH11CC25C) United States. Defense Advanced Research Projects Agency (International Space Station Spheres Integrated Research Experiments (InSPIRE) and InSPIRE II contract NNH13CJ23C) United States. National Aeronautics and Space Administration (award NNX16AT66A) |
| Databáze: | OpenAIRE |
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