Autonomous Fault-Tolerant Guidance, Navigation and Control System for Automated Rendezvous and Docking
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AbstractAn essential element of autonomous satellite servicing is a fully Autonomous Rendezvous and Docking (ARD) system. Precision ARD capability is required for the DARPA-ASTRO, NASA-MSR, and International Space Station missions, among others. We propose todevelop a hierarchical ARD system with a top-level supervisory controller and two low-level interconnected subsystems: (i) failure detection, identification, and state estimation (FDISE) subsystem, and (ii) guidance, navigation and control (GNC) subsystem.An Interacting Multiple-Model Kalman filter is used for failure detection, identification, and navigational filtering of video guidance system, laser radar sensor, and other sensor data. The GNC subsystem consists of a suite of controllers designed to meetsafety and performance requirements. The top-level supervisor coordinates sensor management, GNC mode switching, fault-tolerant reconfiguration and other event-driven functionalities. Phase I work will demonstrate feasibility through a detailed simulation.A hardware-in-the-loop testbed for supervised autonomy will be developed in Phase II. NASA-JPL GNC group under the guidance of Dr. Fred Hadaegh will provide technical support during all Phases of the project based on their previous and ongoing work for theMars Sample Return mission.Autonomous rendezvous and docking system is directly applicable to satellite servicing and re-supply. Vision-based GNC are applicable to underwater exploration and mining, autonomous automobiles, manufacturing, telerobotics,electronic toys, and cinematography. These applications represent a vast untapped market for the technologies developed.
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