On-orbit Operations Research Articles

Dual-Arm Space Robot On-Orbit Operation of Auxiliary Docking Prescribed Performance Impedance Control

The impedance control of a dual-arm space robot in orbit auxiliary docking operation is studied. First, for the closed-chain hybrid system formed by the dual-arm space robot after capture operation, the dynamic equation of position uncontrolled and attitude controlled is established. The second-order linear impedance model and second-order approximate environment model are established for the problem of simultaneous output force/pose control of the end of the manipulator. Then, aiming at the transient performance control requirements of the dual-arm space robot auxiliary docking operation in orbit, a sliding mode controller with equivalent replacement of tracking errors is designed by introducing Prescribed Performance Control (PPC) theory. Next, Radial Basis Function Neural Networks (RBFNN) are used to accurately compensate for the modeling uncertainties of the system. Finally, the stability of the system is verified by Lyapunov stability determination. The simulation results show that the attitude control accuracy is better than 0.5°, the position control accuracy is better than 10−3 m, and the output force control accuracy is better than 0.5 N when it reaches 30 N. It also indicated that the proposed control algorithm can limit the transient performance of the controlled system within the preset range and achieve high-precision force/pose control, which ensures a more stable on-orbit auxiliary docking operation of the dual-arm space robot.

Pose-Constrained Control of Proximity Maneuvering for Tracking and Observing Noncooperative Targets with Unknown Acceleration

This paper proposes a pose control scheme of for proximity maneuvering for tracking and observing noncooperative targets with unknown acceleration, which is an important prerequisite for on-orbit operations in space. It mainly consists of a finite-time extended state observer and constraint processing procedures. Firstly, relative pose-coupled kinematics and dynamics models with unknown integrated disturbances are established based on dual quaternion representations. Then, a finite-time extended state observer is designed using the super-twisting algorithm to estimate the integrated disturbances. Both observation field of view and collision avoidance pose-constrained models are constructed to ensure that the service spacecraft continuously and safely observes the target during proximity maneuvering. And the constraint models are further incorporated into the design of artificial potential function with a unique minimum. After that, the proportional–derivative-like pose-constrained tracking control law is proposed based on the estimated disturbances and the gradient of the artificial potential function. Finally, the effectiveness of the control scheme is verified through numerical simulations.

On-orbit spectral characteristics analysis of the greenhouse gases monitoring instrument: Spectral wavelength stability and instrumental line shape stability

The Greenhouse Gases Monitoring Instrument (GMI) is a carbon satellite payload developed based on the principle of spatial heterodyne spectroscopy technology, which is specifically designed for the global analysis of greenhouse gases (CO2 and CH4) “sources” and “sinks”. Due to the low concentration and minimal gradient variations of CO2 and CH4 in the atmosphere, higher precision is required for their retrieval. Vibrations during satellite launch and harsh space environments during on-orbit operation may cause changes in the performance of various payload components, resulting in decreased quality of spectrum products and retrieval precision. This paper proposes a set of on-orbit spectral characteristic evaluation methods tailored for the GMI to monitor the quality of its spectrum. It also develops an adaptive blind pixel detection and correction algorithm specifically for the GMI and optimizes the interferogram processing flow algorithm. On-orbit spectral calibration is performed, and methods to evaluate spectral characteristic parameters have been established. The analysis focuses on the variations of the spectral characteristics in the CO2-1 bands (1.575 μm) of the GMI during one-year of on-orbit calibration spectrum. The initial spectral wavenumber offset is 0.133 cm−1 after entering orbit, and the average spectral wavenumber offset is 0.0313 cm−1 during stable operation. During the one-year period, the maximum variation in the instrumental line shape function of the GMI is 0.006 cm−1. The observed spectrum obtained in nadir observation mode, underwent to accuracy verification. The results demonstrate consistency between the spectral peak wavenumbers and the relative trend changes of the observed and theoretical spectrum, with an average relative residual of 0.987%.

Energy-Preserving Perturbation Method for Thermally Induced Dynamics in Aerospace Tensegrity Structures

Tensegrity structures are emerging as pivotal components in the assembly of ultralarge modular spacecraft in orbit, primarily due to their exceptional volume-to-mass ratio and robust controllability. During on-orbit operations, given the low damping and high flexibility of tensegrity, its vibration-induced deformations affect the magnitude of the heat flux, presenting a typical force–shape coupling problem. This paper introduces an energy-preserving matrix perturbation solution designed to efficiently and accurately address the thermally induced vibration challenges in tensegrity. This method effectively mitigates the energy dissipation and numerical instability issues. Furthermore, the analysis incorporates the impact of the axial component of heat flux on structural vibration, uncovering the influence mechanism of this often-overlooked slow variable on the dynamic behavior of tensegrity. The proposed method demonstrates a deviation of less than 1% between the thermal response and the results obtained from finite element analysis, while achieving a 70% reduction in computation time. The varying axial thermal load leads to a rapid decrease in system frequency, resulting in divergent thermal vibrations. Additionally, the significant dynamic stress can potentially surpass the structural stress limits. These findings underscore the critical importance of considering such effects in the design and calculation of tensegrity structures for aerospace applications.

Research on on-orbit relative radiometric calibration method based on solar diffuse reflector hyperspectral camera

Abstract In the original image data obtained by optical remote sensing satellite sensors, there is stripe noise caused by inconsistent probe response, which will seriously affect the application effect and accuracy of the image. The importance of relative radiometric calibration is that it can eliminate the stripe noise in the image, thus improving the quality and clarity of the image. In this paper, a relative radiometric calibration method based on the data of a solar diffuse reflector downloaded from the satellite is proposed. The relative radiation calibration coefficient is calculated by using the least square method by obtaining the calibration image of the on-board diffuse reflector covering all the detectors. To verify the method proposed in this paper, the on-board relative radiometric calibration experiment is carried out by using the on-orbit hyperspectral camera of a terrestrial ecological carbon monitoring satellite, and the calibration effect of the calibration coefficient on the original image is tested, and the relative radiometric calibration accuracy is quantitatively analyzed. The experimental results show that the calibration coefficient can effectively eliminate the band noise of the original hyperspectral image. From the quantitative evaluation, the signal-to-noise ratio index of the corrected hyperspectral image is greater than 200, and the generalized noise index is better than 3%, which achieves a good calibration effect and meets the requirements of high-quality remote sensing image application. It provides a reliable guarantee for quantitative remote sensing applications during the satellite’s on-orbit operation.

Trajectory optimization of spacecraft autonomous far-distance rapid rendezvous based on deep reinforcement learning

This paper investigates the application of Deep Reinforcement Learning (DRL) in the trajectory optimization of spacecraft far-distance rapid rendezvous, and uses the most advanced DRL method Proximal Policy Optimization (PPO) to solve the continuous high-thrust minimum-fuel trajectory optimization problem. The space J2 perturbation was considered, its impact on the spacecraft’s on-orbit operation and trajectory design was analyzed, and the effectiveness and accuracy of the proposed method were verified in two far-distance rapid rendezvous missions. In order to ensure the safety of the subsequent close-range operation phase, a safe area reward framework is proposed, and sparse and dense safe area reward functions are designed. The dense safe area reward function significantly improves the training efficiency of the algorithm on the basis of ensuring terminal performance. In addition, the modeling and analysis of possible uncertainties in the spacecraft’s orbit operation, including observation uncertainty, state uncertainty and control uncertainty, is carried out to verify the performance of the proposed method through simulation. For uncertainties, the closed-loop performance of the policy is also evaluated by performing Monte Carlo simulations. The results show that the PPO algorithm can effectively deal with the rendezvous problem in uncertainty environments. These preliminary results demonstrate the great potential of the DRL method in achieving autonomous guidance of spacecraft.

Fault stands out in contrast: Zero-shot diagnosis method based on dual-level contrastive fusion network for control moment gyroscopes predictive maintenance

Control moment gyroscopes (CMGs) are the most common control actuators in spacecraft. Their predictive maintenance is crucial for on-orbit operations. However, due to the scarcity of CMG fault data, constructing a diagnosis system for predictive maintenance with CMGs poses significant challenges. Therefore, a zero-shot fault diagnosis method based on a dual-level contrastive learning fusion network was proposed. First, to address the difficulty in training CMG fault diagnosis models without fault data, a contrastive learning method based on CMG clusters was proposed to extract invariant features from healthy CMGs and achieve zero-shot diagnosis for predictive maintenance. Second, considering the limitations of information from a single sensor, a cross-sensor contrastive learning method was proposed to fuse features from different sensors. Third, to tackle the challenges of extracting weak potential fault features, a dual-level joint training method was introduced to enhance the model’s feature extraction capability. Finally, the proposed method was validated using real dataset collected from CMGs serviced on an in-orbit spacecraft. The results demonstrate that the method can achieve zero-shot fault diagnosis for control moment gyroscopes predictive maintenance. The code is available at https://github.com/IceLRiver/DCF.

The Design of GECAM Scientific Ground Segment

The Gravitational wave burst high-energy Electromagnetic Counterpart All-sky Monitor (GECAM) is a dedicated mission for monitoring high-energy transients. Here we report the design of the GECAM Scientific Ground Segment (GSGS) in terms of the scientific requirements, including the architecture, the external interfaces, the main function, and workflow. Judging from the analysis and verification results during the commissioning phase, the GSGS functions well and is able to monitor the status of the payloads, adjust the parameters, develop the scientific observation plans, generate the scientific data products, analyze the data, etc. Thus, the on-orbit operation and scientific researches of GECAM are guaranteed.

Multi-Level Behavioral Mechanisms and Kinematic Modeling Research of Cellular Space Robot

The cellular space robot (CSR) is a new type of self-reconfigurable robot. It can adapt the variety of on-orbit service tasks with large space spans through multi-level reconfiguration mechanisms. As the CSR has a large configuration space, kinematic solving becomes a key problem affecting on-orbit operation capability, and kinematic automatic solving research must be conducted. In order to solve this problem, firstly, the cellular space robot system capable of realizing multi-level self-reconfiguration is proposed for the demand of space on-orbit service, and the kinematic equations of modules are constructed by considering a single module function using screw theory. Secondly, the kinematics of the cellular space robot are encapsulated and divided into multiple levels, and the multilevel-assembly relationship-description method for robotic systems is proposed based on graph theory. On this basis, the pathway-solving algorithm is proposed to express the robot organization reachability information. Finally, the module–organ–robot multilevel kinematics solving algorithm is proposed in combination with screw theory. In order to verify the effectiveness of the algorithm in this paper, numerical simulation is used to compare with the proposed algorithm. The results show that compared with the traditional algorithm, the method in this paper only needs to update part of the assembly relations after organ migration, which simplifies the kinematic modeling operation and improves the efficiency of kinematic computation.

A comprehensive study on PnP-based pipeline for pose estimation of noncooperative satellite

The monocular 6D pose estimation of a noncooperative satellite is essential in various on-orbit automatic operations. Nevertheless, the application of this technology still faces challenges, such as heavy model parameters and high latency. In this study, we comprehensively explored the critical components of satellite pose estimation, including landmark description, localisation, and the PnP algorithm, and we introduce a high-precision, real-time, and robust pipeline. Existing methods adopt external convex landmarks, such as 11 landmarks for the SPEED dataset, which are insufficient to describe the geometric structure of the satellite. This study adopted a wireframe-based landmark description, encompassing all visually prominent satellite joints connected directly into the satellite’s wireframe model. In addition, unlike most existing methods that rely on heatmap-based landmark localisation, which incurs high computational costs and quantisation errors, we adopt direct coordinate classification for satellite landmark localisation, which is lightweight, fast, and accurate. Experimental results on the SPEED dataset demonstrate that our method outperforms the current state-of-the-art technique, with an accuracy increase of 28% and parameter number decrease of 78%. In particular, our method is very lightweight and robust, and it runs in real-time, making it well-suited for on-orbit real-time satellite pose estimation.

Fast fixed-time extended state observer based command filtering backstepping control of free-flying flexible-joint space robots

System parameter perturbations, external disturbances, and input saturation issues seriously affect the on-orbit operation precision and rapid response capabilities of the free-flying flexible-joint space robots (FFSR). To this end, a fixed-time extended state observer (ESO) based non-singular command filtering backstepping controller is proposed. The fast fixed-time ESO is designed to estimate the parameter perturbations and external disturbances. To avoid the “computational explosion” caused by multiple derivatives of the virtual control law in backstepping control, a second-order command filter is employed to obtain the derivative of virtual control laws. Meanwhile, to reduce the filtering errors induced by the command filter, a non-singular fixed-time filtering error compensation algorithm is developed. Furthermore, considering the constraints of control moment gyroscope (CMG) and joint motors, an anti-saturation compensation algorithm is introduced to drive the system out of the saturated region rapidly, thus reducing actuator saturation effects on the control system performance. Theoretical analysis shows the proposed controller can ensure the system tracking error converges to any arbitrarily small neighborhood of the origin within fixed time. Simulation results demonstrate that the designed non-singular fixed-time command filtering backstepping controller exhibits fast convergence speed and high tracking accuracy.

Characteristic Study of a Typical Satellite Solar Panel under Mechanical Vibrations.

As the most common energy source of spacecraft, photovoltaic (PV) power generation has become one of the hottest research fields. During the on-orbit operation of spacecraft, the influence of various uncertain factors and the unbalanced inertial force will make the solar PV wing vibrate and degrade its performance. In this study, we investigated the influence of mechanical vibration on the output characteristics of PV array systems. Specifically, we focused on a three-segment solar panel commonly found on satellites, analyzing both its dynamic response and electrical output characteristics under mechanical vibration using numerical simulation software. The correctness of the simulation model was partly confirmed by experiments. The results showed that the maximum output power of the selected solar panel was reduced by 5.53% and its fill factor exhibited a decline from the original value of 0.8031 to 0.7587, provided that the external load applied on the panel increased to 10 N/m2, i.e., the vibration frequency and the maximal deflection angle were 0.3754 Hz and 74.9871°, respectively. These findings highlight a significant decrease in the overall energy conversion efficiency of the solar panel when operating under vibration conditions.

Preliminary Assessment of On-Orbit Radiometric Calibration Challenges in NOAA-21 VIIRS Reflective Solar Bands (RSBs)

The National Oceanic and Atmospheric Administration (NOAA) 21 Visible Infrared Imaging Radiometer Suite (VIIRS) was successfully launched on 10 November 2022. To ensure the required instrument performance, a series of Post-Launch Tests (PLTs) were performed and analyzed. The primary calibration source for NOAA-21 VIIRS Reflective Solar Bands (RSBs) is the Solar Diffuser (SD), which retains the prelaunch radiometric calibration standard from prelaunch to on-orbit. Upon reaching orbit, the SD undergoes degradation as a result of ultraviolet solar illumination. The rate of SD degradation (called the H-factor) is monitored by a Solar Diffuser Stability Monitor (SDSM). The initial H-factor’s instability was significantly improved by deriving a new sun transmittance function from the yaw maneuver and one-year SDSM data. The F-factors (normally represent the inverse of instrument gain) thus calculated for the Visible/Near-Infrared (VISNIR) bands were proven to be stable throughout the first year of the on-orbit operations. On the other hand, the Shortwave Infrared (SWIR) bands unexpectedly showed fast degradation, which is possibly due to unknown substance accumulation along the optical path. To mitigate these SWIR band gain changes, the NOAA VIIRS Sensor Data Record (SDR) team used an automated calibration software package called RSBautoCal. In March 2024, the second middle-mission outgassing event to reverse SWIR band degradation was shown to be successful and its effects are closely monitored. Finally, the deep convective cloud trends and lunar collection results validated the operational F-factors. This paper summarizes the preliminary on-orbit radiometric calibration updates and performance for the NOAA-21 VIIRS SDR products in the RSB.

Configuration reconstruction and all-joint synchronous measurement based on vision for segmented linkage manipulator of rigid-flexible dual-arm space robot

A rigid-flexible dual-arm space robot offers promising potential for on-orbit operation due to complementary strengths of its rigid and flexible manipulators. The rigid manipulator has the advantage of large payload capacity and high motion accuracy. The segmented linkage flexible manipulator is ideal for maneuvering in narrow, unstructured environments like internal satellite inspections and maintenance, due to its flexibility and slender body. However, there are inevitable tracking errors due to the multiple cable-driven mechanisms in the flexible manipulator. It’s difficult to get the configuration and end pose of flexible manipulator without adding external sensors. To address these issues, this paper presents a method for configuration reconstruction and all-joint synchronous measurement of the flexible manipulator. The flexible manipulator is captured by the stereovision system mounted on the rigid manipulator. The links’ equivalent center points are recognized by central moment method and edge line extraction method based on the natural characteristics. Joint-to-link kinematic model of flexible manipulator is established to measure joint angles and reconstruct configuration. Several simulations and experiments are carried out to validate the proposed method. The experimental results showed links’ average measurement position errors were less than 13 mm and joint angles reconstructed using the proposed method had an error of approximately 0.35°. These results demonstrate the accuracy and robustness of the proposed method.

Modeling Torsional Stiffness and Damping of Liquid Slosh in Spacecraft Diaphragm Tanks

This study presents a pendulum-based empirical model of liquid slosh in spacecraft diaphragm tanks. Diaphragm torsional stiffness and effective damping are predicted within a range of lateral excitation frequency typical of launch or on-orbit operations. A pendulum-analog model with two primary slosh modes is extracted from diaphragm tank slosh data corresponding to steady-state triaxial force measurements at the support points of the tank under sinusoidal excitation. The approach leads to repeatable and accurate determination of pendulum model parameters. A gradient-based algorithm and a procedure for setting initial conditions for optimal parameter estimation are proposed to predict the liquid slosh forces and torques acting on the tank as frequency response functions of apparent mass and apparent mass moment. The pendulum models were assessed by comparing model-predicted force/torques with measurements, showing good agreement (1–5% prediction error in the time domain) under most test conditions (fill level, excitation amplitude, and frequency). An empirical model of the stiffness and damping is also proposed for the tested range of operational conditions. Because of the nonlinear nature of liquid slosh behavior in a diaphragm tank, both the stiffness and damping are local values for a given set of test conditions.

Projects for the Regulation of Space Traffic Management

The elements of the STM regime are the two dimensions of space traffic (in the scientific-technical and regulatory domains) and the three phases of space traffic: the launch, the on-orbit operations and the return. Examples of traffic regulations include launch safety rules, a specific air-space regime, manned spacecraft safety rules, regulations governing debris removal, traffic laws for orbital phases, return safety regulations (e.g. descent corridors), frequency use and avoidance of interference, environmental regulations, etc. Implementation and control mechanisms are primarily national regulations for licensing, arbitration and enforcement, operational assessments, coordination, and civil-military cooperation. This article is based on the concept of STM, which emphasises the need to respond quickly to unexpected events in space by creating a regime that encompasses all aspects of space activities.

Indicator of abnormal cathode electron emission state with gas flow in Hall thrusters

The accurate diagnosis of abnormal electron emission state in hollow cathodes is crucial for the stable operation of Hall electric propulsion systems. In this study, a method of reducing the cathode working gas flow rate was used to simulate abnormal working conditions in which the cathode electron emission state (CEES) was deteriorating. By analyzing and comparing the oscillation signals under abnormal and steady-state working conditions, it was found that as the CEES deteriorated, the power content of the breathing oscillation decreased in the 1–40 kHz frequency band, and the main frequency decreased; in contrast, the power content of the transit-time oscillation increased in the 100–500 kHz range, and the main frequency was on the rise. Combined with the current growth rate analysis of breathing and transit-time oscillations, when the cathode gas flow rate decreases, the CEES deteriorates, the coupling voltage drop increases, and the potential drop in the channel decreases. The electron temperature and nonlinear power absorption of the electrons decrease, leading to a decrease in the growth rate of breathing oscillations and the breathing oscillation weakens; however, the time-averaged ion velocity and ion sound velocity in the channel decrease simultaneously, but the ion velocity decreases significantly faster than the ion sound velocity, leading to an increase in the growth rate of the transit-time oscillation, and the transit-time oscillation strengthen. Through comparison of the oscillation signals under different working conditions, such as varied anode flow rate, anode voltage, magnetic induction, it was proven to be a unique feature of CEES deteriorates, and can be used as an indicator of CEES deteriorates during the on-orbit operation of the Hall-effect thrusters.

Irregular ANCF model and experimental investigations of the irregular membrane structures with variable cross-section

The membrane spacecraft structures are widely used for deep space exploration and on-orbit operation, but the dynamic responses of them is more complex. To advance the state of membrane structures, in this paper, a new ANCF membrane element is established to model dynamic equations of the membrane structure precisely and efficiently. Firstly, the irregular ANCF membrane element is studied by considering anomalistic boundary and variable cross-section. The mapping relations between the sub-ANCF element and the parent-ANCF element are illuminated by the Jacobian matrix, which makes the strain of each irregular element accurately calculated with the same shape functions. It is helpful to improve the description accuracy of inherent attributes and reduce the element number of dynamic systems. Further, the nonlinear dynamic model for membrane spacecraft system is established by the virtual work principle. Finally, the numerical examples and experiments are analyzed to verify the correctness of the proposed method and discuss the influence of nonlinear geometry and distortion on the dynamic behaviors. The results from the time domain and frequency domain analyses demonstrate that the distinct irregular geometric boundary of the irregular spacecraft can be more accurately modeled using the presented method. However, the difference becomes more pronounced when the distortion is too large. The research outcomes of this paper can provide theoretical guidance for the irregular spacecraft system, which is of great significance and urgently needs to be studied.

Innovative Systems Engineering Solutions for Power-Positive Operations: Navigating the Multi-Constraint Challenges of the SWARM-EX CubeSat Mission

Although the small stature of CubeSats and their standardized deployer options help to lower unit development cost and facilitate launch opportunities, the physical size limits of CubeSats prove to be a double-edged sword vis-à-vis sustaining a stable power state while hosting instruments with high power demands and often strict pointing requirements. For the Space Weather Atmospheric Reconfigurable Multiscale-EXperiment (SWARM-EX), this issue is magnified by the mission’s ambitious goals; to comply with mission requirements, a SWARM-EX spacecraft is required to concurrently (1) point the science instruments no more than 30° off ram when they are operational, (2) point the GPS patch antenna no more than 30° off zenith at least once per orbit, (3) point the boresight of the X-Band patch antenna no more than 18° from the ground station during downlink, (4) maximize the differential cross-sectional area during differential drag maneuvers, and (5) maximize solar array power generation at all times. Consequently, leading-edge CubeSat missions like SWARM-EX require innovative systems engineering solutions to remain power-positive during on-orbit operations. Through the design of a comprehensive module-based concept of operations, orbital power generation simulations, intricate constrained attitude profiles, and a configurable battery state of charge simulation tool, the SWARM-EX mission designers have conceived a plan to retire the risk of not maintaining a power-positive state while successfully meeting all mission requirements; it is the aim of the authors to illuminate these strategies as a case study.

Long-term Integration Ability of the Submillimeter Wave Astronomy Satellite (SWAS) Spectral Line Receivers

The Submillimeter Wave Astronomy Satellite (SWAS) was the first space telescope capable of high spectral resolution observations of terahertz spectral lines. We have investigated the integration ability of its two receivers and spectrometer during five and a half years of on-orbit operation. The C i , O2, H2O, and 13CO spectra taken toward all observed Galactic sources were analyzed. The present results are based on spectra with a total integration time of up to 2.72 × 104 hr (≃108 s). The noise in the spectra is generally consistent with that expected from the radiometer equation, without any sign of approaching a noise floor. This noise performance reflects the extremely stable performance of the passively cooled front end as well as other relevant components in the SWAS instrument throughout its mission lifetime.