TY - GEN
T1 - Real-time state estimation for asteroid close-proximity operations via lidar altimetry and a particle filter
AU - Gaudet, Brian
AU - Furfaro, Roberto
PY - 2014
Y1 - 2014
N2 - Current practice for asteroid close proximity operations typically initiates a maneuver from a safe orbit, and then the maneuver is executed open loop, i.e., once the maneuver is initiated, an estimate of the spacecraft's state is not used to correct for errors. A problem with this approach is that extremely accurate modeling of the asteroid's dynamics is required. Moreover, even with accurate modeling, there is still often considerable error between the targeted and actual spacecraft state at the end of the maneuver, making precision touch and go (TAG) and landing maneuvers impossible. Without real-time spacecraft state estimation that can be coupled to a guidance law, there is no way to improve on this state of affairs. This paper demonstrates how such a real-time state estimation algorithm can be constructed using a Rao-Blackwellized particle filter, a laser altimeter, and an asteroid shape model. The state estimation algorithm is coupled with a guidance law, and precision TAG maneuvers on Itokawa and RQ36 are demonstrated via Monte Carlo simulations in a high fidelity simulation environment.
AB - Current practice for asteroid close proximity operations typically initiates a maneuver from a safe orbit, and then the maneuver is executed open loop, i.e., once the maneuver is initiated, an estimate of the spacecraft's state is not used to correct for errors. A problem with this approach is that extremely accurate modeling of the asteroid's dynamics is required. Moreover, even with accurate modeling, there is still often considerable error between the targeted and actual spacecraft state at the end of the maneuver, making precision touch and go (TAG) and landing maneuvers impossible. Without real-time spacecraft state estimation that can be coupled to a guidance law, there is no way to improve on this state of affairs. This paper demonstrates how such a real-time state estimation algorithm can be constructed using a Rao-Blackwellized particle filter, a laser altimeter, and an asteroid shape model. The state estimation algorithm is coupled with a guidance law, and precision TAG maneuvers on Itokawa and RQ36 are demonstrated via Monte Carlo simulations in a high fidelity simulation environment.
UR - http://www.scopus.com/inward/record.url?scp=84899030347&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84899030347&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84899030347
SN - 9780877036050
T3 - Advances in the Astronautical Sciences
SP - 1717
EP - 1736
BT - Astrodynamics 2013 - Advances in the Astronautical Sciences
PB - Univelt Inc.
T2 - 2013 AAS/AIAA Astrodynamics Specialist Conference, Astrodynamics 2013
Y2 - 11 August 2013 through 15 August 2013
ER -