Proximity Operations and Three Degree-of-Freedom Maneuvers Using the Smartphone Video Guidance Sensor

Nasir Hariri,Hector Gutierrez,John Rakoczy,Ivan Bertaska,Richard Howard

doi:10.3390/robotics9030070

Abstract

This paper presents the first demonstration of NASA’s Smartphone Video Guidance Sensor (SVGS) as real-time position and attitude estimator for proximity and formation maneuvers. An optimal linear quadratic Gaussian controller was used, combining a linear quadratic regulator and a Kalman filter. The system was demonstrated controlling the 3-degree of freedom planar motion of the RINGS ground units (Resonant Inductive Near-field Generation Systems). A state-space model of the system’s 3-DOF motion dynamics was derived, and model parameters extracted using a system identification technique. The system’s motion control performance is experimentally demonstrated in both tracking and formation maneuvers. The results highlight the capabilities and performance of the Smartphone Video Guidance Sensor (SVGS) as a vision-based real-time position and attitude sensor for motion control, formation flight and proximity operations. A leader-follower formation maneuver approach is demonstrated, as well as position hold and path following.

Highlights

The interest in formation maneuvers and distributed space missions has grown significantly in recent years [1,2,3,4,5,6], including follower formations and station keeping [7,8]
The image is processed using a modification of algorithms originally developed for the Advanced Video Guidance Sensor (AVGS) [13,14,15,16,17], which successfully flew on the Demonstration for Autonomous Rendezvous Technology (DART) and Orbital Express missions [13,18]
This paper presents the first demonstration of real-time motion control, proximity operations and formation maneuvers using Smartphone Video Guidance Sensor (SVGS) as position and attitude sensor

Summary

Introduction

The interest in formation maneuvers and distributed space missions has grown significantly in recent years [1,2,3,4,5,6], including follower formations and station keeping [7,8]. The Smartphone Video Guidance Sensor (SVGS) [10,11,12] is a miniature, self-contained autonomous rendezvous and docking sensor developed at the NASA Marshall Space Flight Center using an Android-based smartphone to enable proximity operations and formation flight in small satellite platforms. The image is processed using a modification of algorithms originally developed for the Advanced Video Guidance Sensor (AVGS) [13,14,15,16,17], which successfully flew on the Demonstration for Autonomous Rendezvous Technology (DART) and Orbital Express missions [13,18]. SVGS is part of the development at NASA Marshall Space Flight Center of a low-cost, low mass, embedded sensor that will enable formation flight and navigation within proximity distance between small satellites in autonomous rendezvous and capture maneuvers. SVGS is capable of Robotics 2020, 9, 70; doi:10.3390/robotics9030070 www.mdpi.com/journal/robotics

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