Servicing Spacecraft Research Articles

Mетод визначення зміни просторового положення об'єкта орбітального сервісу з невідомою формою

This paper presents a method for determining the pose of an on-orbit service object (target) with an unknown surface shape based on processing target surface point clouds. It is assumed that a point cloud is obtained using a sensor in the form of a lidar-based system onboard the service spacecraft. The algorithm of the method operates with a simplified description of the cloud; it uses only the coordinates of the cloud points without identifying any surface features. The idea of the method is as follows. From all cloud points obtained at a certain time instant, select points that are close to a certain degree to a given set of planes arranged in space in a certain way. From the point cloud corresponding to the next time instant, select points that are close to the same set of planes, but moved in space in a known way. By convention, let the arrangement of the projections of the selected cloud points onto the given planes be called a pattern of the intersection of the point clouds with the planes. By varying the displacement of the set of planes, maximize the coincidence of the intersection patterns of the first and second clouds of points. The degree of coincidence of the intersection patterns is characterized by a specified objective function whose arguments are target pose parameters. The target displacement parameters are found as the arguments of the objective function that maximize it. A variant of the objective function is proposed. A test example of the application of the proposed method is considered. A global optimization method known as the direct search method was used to find the arguments of the objective function. Test calculations were performed, and they confirmed the workability of the algorithm and determined its scope of applicability. The computational burden was not considered: the goal was to verify the workability of the method in principle. The advantage of the proposed method is its ability to determine a change in the pose of an object with an unknown surface shape. The proposed method may be considered as a source of observation data for a filtering procedure when estimating the parameters of the relative motion of a target with an unknown surface shape.

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.

Service spacecraft for space debris removal

The problem of space debris removal from the near-Earth space is being studied in almost every country taking part in space exploration. This is due to the global threat of critical increase in the number of space debris objects predicted for the near future, in particular as a result of significant growth in demand for multi-satellite constellations for various purposes. To date, researchers have proposed a large number of different methods for space debris removal. The work presented is the development of one of the promising contactless methods of space debris removal by an ion beam. The results of modeling and optimization of physical processes in the ion source to be mounted on board a service spacecraft that is necessary for implementing the considered method of space debris removal are presented. Besides, the results of thermal modeling and thermal mapping of the ion source during its operation are presented also, and the calculation results of its output parameters are compared to experimental data, which verified the small divergence angles of the generated ion beam. To assess the prospects of using a system for contactless space debris transportation by an ion beam using the obtained data on the operating parameters of the ion source, the trajectory design and mission analysis were carried out, which revealed the feasibility of removing seven space debris objects out of the protected region in geostationary orbit by a single service spacecraft. Besides, the preliminary service spacecraft design is presented.

Spacecraft protection against man-made and natural space debris particles

Classification of space objects according to their size, mass and density is presented. Methods developed for assessing the degree of near-Earth space contamination by space debris are reviewed briefly. General principles of providing passive and active protection for spacecraft are analyzed. Based on the developed model of particle motion under the conditions of electrodynamic armor, the areas of its efficient application are specified. It is shown that the current level of development of structural materials and high-pulse energy storage devices does not fully ensure the possibility of their full-scale efficient use in spacecraft protection systems. It is stated that it is necessary to develop additional measures to ensure the space flight safety, for example, by developing service spacecraft on the basis of unified space platforms, the primary purpose of which would be the active removal of space debris.

Concept of a Green Propulsion System for Ioshex, Designed to Perform In-Orbit Randezvous and Docking

ABSTRACT Recent challenges in space access include cost optimization and space debris reduction. The European Space Agency has envisioned the evolution of in-orbit transportation involving re-usable service vehicles, moving payloads from high parking orbits to their target orbits. This concept for orbital infrastructure requires de-risking activities and the development of building blocks, such as standardized interfaces and communication. Mastery of close-proximity operations and docking is essential for the new transportation system. This new branch of space operations represents a good opportunity to introduce more sustainable propulsion solutions, especially given the high costs and uncertain future of hydrazine and its derivatives. IOSHEX, a service spacecraft to be equipped with a green propulsion system utilizing 98% hydrogen peroxide, serves as a reference. This paper presents a design concept for this propulsion system, including trade-off analyses, calculations, and a three-dimensional model integrated with IOSHEX.

Research on Auxiliary Effect of Lorentz Force for On-orbit Servicing of Spacecraft

Background: On-orbit servicing of spacecraft is mainly aimed at repairing failed spacecraft, maintaining and upgrading normally operating spacecraft to extend their life in order to reduce the increase of space debris and maintain the space environment. Objective: In performing on-orbit servicing, the spacecraft typically requires continuous control force to hover for a long period of time in order to maintain a relatively stationary state towards the target. Methods: Considering the limited amount of fuel carried, the Lorentz force is introduced into onorbit servicing to assist spacecraft in hovering. In order to demonstrate the feasibility of using Lorentz force as spacecraft thrust, many related patents have been provided. Results: Firstly, the velocity of the spacecraft's orbital motion and the variation of the geomagnetic field were given, and the specific expression of the Lorentz force in the relative dynamics model of the spacecraft was deduced. When studying the auxiliary effect of Lorentz force, a critical angle was defined. The relation between the critical angle and the Lorentz force on the auxiliary effect of spacecraft hovering was analyzed through numerical examples. Conclusion: Furthermore, based on the influence of the charge-to-mass ratio on the critical angle, the variation law of the Lorentz force-assisted spacecraft hovering area with different charge-tomass ratios was derived.

Fuelless On-Orbit Assembly of a Large Space Truss Structure Using Repulsion of the Service Spacecraft by Robotic Manipulators

A servicing spacecraft motion control approach for the problem of on-orbit truss structure assembly is developed in this paper. It is considered that a cargo container with a rod set and servicing spacecraft are in orbit initially. The assembly procedure is based on spacecraft free-flight motion between the structure’s specified points. The spacecraft is equipped with two robotic manipulators capable of attaching to the structure and holding rods. In addition, the spacecraft can repulse from the structure with a given relative velocity using a manipulator, so the spacecraft and the structure receive impulses. The repulsion velocity vector is calculated in order to reach the structure target point to deliver and install the rod into the truss structure, or to reach the cargo container and take a rod. The problem of searching the repulsion velocity is formulated as an optimization problem with constraints, taking into account the limited value of the repulsion velocity, collision avoidance with structure, restrictions on the angular velocity and translational motion of the structure in the orbital reference frame. This problem is solved numerically with an initial guess vector obtained analytically for simplified motion cases. The application of the proposed control scheme to the assembly of a truss-based antenna is demonstrated. It is shown that the servicing spacecraft is successfully transferred between the structure points by means of manipulator repulsion. Main features and limitations of the assembly problem using a spacecraft with two manipulators are discussed.

Robotic technologies for in-orbit assembly of a large aperture space telescope: A review

Space telescopes have been instrumental in enlightening our understanding of the universe, from the iconic Hubble Space Telescope to specialized instruments like Chandra and Kepler. Pushing the frontiers of cosmic exploration, the future of space exploration hinges on modular Large Aperture Space Telescopes (LAST), much larger than the recently launched 6.5 m James Webb Space Telescope, necessitating robotic assembly in orbit. This paper introduces a paradigm shift in astronomical observation by featuring robotic in-orbit assembly of a large aperture space telescope. This review paper starts by tracing the evolution of telescopes and presents a comprehensive overview of the state-of-the-art space telescopes. This paper then reinforces the need for LAST to address the constant clamour for higher-resolution astronomy. While current semi-autonomous robotic manipulators operate from the International Space Station, their limited walking capabilities constrain their workspace, making them unsuitable for the LAST mission. This paper presents a detailed trade-off analysis of the challenges associated with the in-orbit assembly of LAST using candidate robots to understand the technological gaps. Further, the evolution of space robotic manipulators is presented, highlighting design features, advantages, and drawbacks for in-orbit spacecraft servicing and assembly missions. To tackle design and modelling challenges for robotic systems in space, amidst the various perturbations in the extreme space environment, linear and non-linear control systems necessary for achieving ultra-high precision performance are also discussed. This paper advances the walking space manipulator technology by introducing the next generation of walking space manipulators – the End-Over-End Walking Robot (E-Walker). The dexterous and modular design of the E-Walker makes it an ideal candidate for missions involving assembly, manufacturing, servicing, and maintenance.

Model-based controllers for CubeSat ORU installation: A comparative study

The increasing space debris population in critical orbits due to spacecraft failure dictates the need for action. On-Orbit Servicing (OOS) has been proposed as a method for mitigating this trend by repairing existing space assets. The development of large servicing spacecraft has been given significant attention. In this paper, we are approaching the problem with a new paradigm for a servicing spacecraft by proposing a CubeSat class servicer equipped with a one-degree-of-freedom (DoF) robotic arm. Considering the OOS context, we choose the Orbital Replacement Unit (ORU) installation on a target spacecraft as a challenging benchmark task for the proposed servicer configuration. To carry out this task, we formulate and compare performance of four controllers to achieve coordinated control of both the CubeSat and the robotic arm for the installation task. We start with a basic PD controller and progress to the more advanced impedance controller, Model Predictive Control (MPC) and Model Predictive Impedance Control (MPIC) designs. The controllers are evaluated and compared across several relevant metrics for the ORU installation and their merits for practical implementation are discussed.

Coupled Spacecraft Charging Due to Continuous Electron Beam Emission and Impact

Spacecraft charge naturally in orbit due to the plasma environment and the electromagnetic radiation from the sun. By emitting an electron beam, a servicer spacecraft can control its electric potential and also the potential of a neighboring target if the electron beam is aimed at the target spacecraft. In addition, the impacting electron beam excites secondary electrons and x-rays, providing a way to touchlessly sense the potential of the target. Because of the electron beam, the charging dynamics of the two spacecraft are coupled. This paper studies the effects of the beam on the electric potentials using a numerical charging model. It is found that multiple equilibria may exist due to the electron beam. Jumps between equilibrium configurations are possible when the electron beam energy is quickly reduced or when current fluctuations are present. Being aware of multiple equilibrium configurations is important for feedback-based charge control but also enables a new open-loop charge control around one of the equilibria. The effect of the electron beam on the spacecraft potentials is studied for geostationary Earth orbit and cislunar space. It is found that the current applied by the beam to the target may influence remote electric potential sensing methods.

Nonlinear adaptive pose motion control of a servicer spacecraft in approximation with an accelerated tumbling target

Removing a limited number of large debris can significantly reduce space debris risks. These bodies are generally exposed to extreme environmental disturbance torques or consecutive accidents due to their large wet area, which causes them to experience accelerated high-rate tumbling motion. The existing literature has adequately explored the approximation operations with non-cooperative targets exhibiting 3-axis tumbling motion. However, the research gap lies in the lack of attention given to addressing this approximation for targets undergoing accelerated motion. Agile, accurate, and large-angle maneuvers are three common necessities for safely capturing such targets. Changes in the moment of inertia brought on by fuel slushing cannot be disregarded during such a maneuver. To deal with nonlinearities, adverse coupling effects, actuator saturation constraints, time-varying moment of inertia, and external disturbances that worsen during accelerated agile large-angle maneuvers, a novel adaptive control approach is developed in this paper. The controller's main advantage is its adjustable desired acceleration, which maintains its performance even when dealing with accelerated motion. The control law is directly synthesized from the nonlinear relative equations of motion, without any linearization or simplification of the system dynamics, making it robust to a variety of orbital elements and target behaviors. Adaptation laws are extracted from the Lyapunov stability theorem in a way that guarantees asymptotic stability. Moreover, control actuator roles (delay, saturation, and allocation) are accounted for in modeling and simulation. Finally, a comprehensive numerical simulation based on three different realistic and strict scenarios is carried out to demonstrate the effectiveness and performance of the proposed control approach. The controller's robustness against time-varying dynamic parameters (sharp and sudden change, smooth and slow change, and periodic change) is extensively demonstrated through simulation.

Ellipsoidal estimation of motion parameters of a non-cooperative space vehicle from visual information

The use of near-Earth space is currently complicated by presence of space debris objects in Earth’s orbit, which include spent stages of launch vehicles, inoperative satellites, and other large and small artificial objects. One approach to solving the problem of space debris involves docking and capturing a non-cooperative space object or spacecraft (target) with a so-called service spacecraft (chaser) for further actions to repair, refuel or change its orbit. Rendezvous and docking are complicated by the rotation of uncontrolled space objects caused by various factors. To perform this task, it is necessary to know the parameters of the orbital, rotational and relative motion of the target. The parameters of the orbital motion of such objects are usually known quite accurately from measurements from the Earth. This paper examines the case of a tumbling non-cooperative target located in an elliptical orbit. It is assumed that the target relative position and orientation are measured by the computer vision system (CVS) of the chaser. In this case, the position and orientation of the graphical reference frame (GRF) associated with the known 3-D graphical model of the target are determined relative to the reference frame associated with the chaser. The specific type of CVS is not considered. It is assumed that the chaser can carry out some maneuvers near the target and all parameters of the chaser angular motion are known. Thus, the attitude of the GRF relative to inertial reference frame (IRF) can be determined. The measured parameters are not enough to ensure safe rendezvous and docking with the target. To complete this task, it is necessary to determine all kinematic and dynamic parameters of the relative motion between the spacecraft. The rest of the required parameters are estimated. Orientation and rotation parameterization is done using quaternions. The angular motion equation of the target is considered in the GRF. This makes the angular velocity estimation faster and the inertia tensor estimation more stable. Stochastic characteristics of measurement errors are considered to be unknown and are not used. The only information about the errors is the bounds of their values. To determine the relative motion parameters, we use a new dynamic set-membership filter with ellipsoidal estimates. The filter can be successfully implemented on low-power on-board processors. The properties of the proposed algorithm are demonstrated using numerical simulation. The results obtained are expected to be used in the development of a navigation system for the rendezvous and docking, developed by a group of Ukrainian space industry enterprises under the leadership of the LLC “Kurs-orbital” (https://kursorbital.com/).

Prescribed performance based adaptive model-free control for highly flexible spacecraft detumbling rotating satellites

The method, using a servicing spacecraft (SS) mounted with very flexible operation devices (FOD), has shown promising application in detumbling rotating satellites due to its unique advantage of compliant contact processes. The SS is highly flexible, and successful implementation of detumbling rotating satellites is dependent on the advanced controller with high performance. However, the controller design suffers from two problems: (i) since the uncertain dynamics arising from the FOD lead to difficulty in acquiring an accurate dynamic model of the SS, the conventional model-based controllers are unable to achieve high performance; (ii) the large deformation of the FOD caused by contact processes generates impactive disturbance that severely deteriorates the transient and steady-state performances. To address these problems, this paper proposes a prescribed performance based adaptive model-free control for the first time. In the controller design process, a finite-time prescribed performance function is designed to incorporate into the model-free controller, which ensures the user-specified error constraints concerning the convergence rate, overshoot, and tracking accuracy. Meanwhile, an adaptive estimation algorithm is developed to significantly enhance the robustness against the disturbance. Moreover, an anti-windup compensator is constructed to effectively handle the adverse effect of thruster saturation. Simulation results validate the effectiveness of the proposed controller, and further show that the SS can successfully detumble the rotating satellite while achieving prescribed performance.

Simultaneous rotation-nutation suppression for a tumbling satellite via a flexible rod

Effectively capturing a malfunctioning tumbling satellite by a servicing spacecraft is nowadays a worldwide challenge. Because of the potential collision between the chaser and the target spacecraft, it is risky to directly capture the tumbling satellite. An innovative approach is to use a flexible brush/rod as the end-effector of a chaser to tackle the tumbling target. However, almost all studies are confined to reducing the pure rotational motion without considering the inevitable nutation motion. To ensure safe capture, it is necessary to suppress both the nutation and rotation simultaneously to the desired low level. There are two difficulties with the simultaneous suppression problem: i) the ideal contact point between the rod and the target is difficult to pinpoint for simultaneous suppression, and ii) the solution of the rod-target dynamic system (described by nonlinear partial differential equations) is extremely time-consuming especially with the limited computing capability of the on-board computer. To conquer these difficulties, a simultaneous rotation-nutation suppression (SRNS) method based on the equal ratio principle is proposed to simultaneously reduce angular velocity and nutation angle. Besides, a highly efficient simplified rod-target model is established based on machine learning. Numerical simulations have been carried out to verify the effectiveness and efficiency of the proposed method.

Attitude control of combined spacecraft with fuzzy neural network disturbance observer

A finite-time control strategy based on a fuzzy neural network disturbance observer (FNNDO) and nonsingular terminal sliding mode (NTSM) is proposed for the attitude control system of a combined spacecraft in the presence of non-cooperative targets with competitive torque output. First, a mathematical model of the combined spacecraft attitude is established with the service spacecraft as the reference. Then, the external disturbances and competitive torque output from non-cooperative targets are treated as generalized disturbances, and FNNDO is employed for tracking and compensation. Subsequently, a NTSM controller is designed to achieve finite-time attitude takeover control of non-cooperative targets. The stability of the disturbance observer and controller is proven using Lyapunov stability theory. Simulation results demonstrate that this control strategy effectively handles the competitive actions of non-cooperative targets while rapidly stabilizing the combined spacecraft’s attitude at the desired values.

Close-range maneuver planning for uncontrolled rendezvous with multiple elliptical orbit targets based on genetic algorithm

On-orbit debris removal is an important and challenging problem in space engineering. A low-cost method for this problem is to use uncontrolled rendezvous with a sub-spacecraft released by a service spacecraft. The sub-spacecraft do not carry any control system and are designed to rendezvous with the target debris to remove it. This paper presents a comprehensive study on the mission planning. First, we analyze and dynamically model the uncontrolled rendezvous process for elliptical orbit targets, and study various aspects such as maneuver, sub-spacecraft release parameter solution, and rendezvous accuracy estimation. Then, we use NSGA-II, a multi-objective optimization genetic algorithm, to establish the mission planning model, focusing on the design of decision variables, constraints and fitness functions. Finally, we apply our proposed method to two specific cases of Molniya orbit, and verify the effectiveness of the planning model. We also conduct a deep analysis of the planning results, and summarize the commonalities and differences of various effective strategies.

Research on Intelligent Navigation System Based on Aerospace Big Data Traffic System

This paper studies the navigation technology of the On-Orbit Servicing Spacecraft (OSS) and proposes an overall solution for the OSS navigation system. The composition of the OSS satellite navigation simulation system and simulation supporting environment are studied. Then a new SSUKF navigation filter is proposed based on the hyper spherical distributed feature sampling point transform algorithm (SSUT) and the non-scanning Kalman filter (UKF). The numerical simulation of the OSS system is studied based on MATLAB/RTW. Finally, the SSUKF algorithm and the conventional UKF algorithm are simulated digitally. The effectiveness and advanced nature of the hybrid Kalman filter applied to spacecraft autonomous navigation are verified.

Orbital Facility Location Problem for Satellite Constellation Servicing Depots

This work proposes an adaptation of the facility location problem for the optimal placement of on-orbit servicing depots for satellite constellations in high-altitude orbit. The high-altitude regime, such as medium Earth orbit, is a unique dynamic environment where low-thrust propulsion systems can provide the necessary thrust to conduct plane-change maneuvers between the various orbital planes of the constellation. As such, on-orbit servicing architectures involving servicer spacecraft that conduct roundtrips between servicing depots and the client satellites of the constellation may be conceived. To this end, a new orbital facility location problem formulation is proposed based on binary linear programming, in which the costs of operating and allocating the facility(ies) to satellites are optimized in terms of the sum of the effective mass to low Earth orbit (EMLEO). The low-thrust transfers between the facilities and the clients are computed using a parallel implementation of a Lyapunov feedback controller. The total launch cost of the depot, along with its servicers, propellant, and payload, is taken into account as the cost to establish a given depot. The proposed approach is applied to designing an on-orbit servicing depot architecture for the Galileo and the GPS constellations.

Intelligent Navigation System based on Big Data Traffic System

This paper studies the navigation technology of the On-Orbit Servicing Spacecraft (OSS) and proposes an overall solution for the OSS navigation system. The composition of the OSS satellite navigation simulation system and simulation supporting environment are studied. Then a new SSUKF navigation filter is proposed based on the hyper spherical distributed feature sampling point transform algorithm (SSUT) and the non-scanning Kalman filter (UKF). The numerical simulation of the OSS system is studied based on MATLAB/RTW. Finally, the SSUKF algorithm and the conventional UKF algorithm are simulated digitally. The effectiveness and advanced nature of the hybrid Kalman filter applied to spacecraft autonomous navigation are verified.

Experimental study of ion beam interaction with target surface aimed at developing a contactless method for space debris removal by an ion beam

Research and development in the field of space debris (SD) removal technologies is one of the most important and urgent tasks facing all spacefaring nations. By now, a large number of different concepts of removal have already been proposed. One of them is the SD removal by ion beam generated by an ion source installed on board a service spacecraft (SSC). A detailed understanding of the process of ion beam interaction with the SD surface is required to develop an optimal control algorithm for the virtual SSC-SD mated configuration in order to improve this method of SD removal. In addition, when designing the SSC, it is necessary to take into account back flows of the material sputtered from the surface of removed SD by the ion beam, which can contaminate the SSC operating surfaces during the removal maneuver. Within the framework of the presented work, experimental studies were performed to determine the coefficient of accommodation of the ion impulse during the ion beam interaction with the surface of the target simulating the external surface of the removed object. Besides, the flow density of the sputtered target material was experimentally evaluated during its exposure to the ion beam. To do this, we used the radio-frequency ion source (injector) with a beam diameter of 160 mm, which is supposed to be used as an actuating unit on board the SSC designed for transporting the SD objects to the disposal orbit or to the orbits with limited life. When measuring the ion beam accommodation coefficient, the presence of additional force arising on the target due to the flow of sputtered material leaving its surface, and the ion-electron emission process on the target, which could distort the experimental data, were taken into account. To estimate the magnitude of the flows of sputtered target material under the influence of the ion beam, a special experimental design was developed for simulating the presence of a point source of sputtered material. The results obtained in this work will be used for modeling the impact of the ion beam on the surface of real SD objects with complex geometry using the finite element method, for refining the control algorithm of the virtual SSC-SDO mated configuration and for developing proposals on the SSC layout, which should reduce or completely eliminate the negative impact associated with the material sputtering from the SDO surface onto the SSC elements. Successful implementation of the developed method of SDO removal will contribute to improving the safety of space activities for all countries and to the development of the rocket-and-space industry in the Russian Federation, in particular.