Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration

Beijing, China

Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration

Beijing, China

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Li X.,Beijing Institute of Technology | Li X.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Gao A.,Beijing Institute of Technology | Gao A.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | And 2 more authors.
Astrophysics and Space Science | Year: 2017

This paper studies local and global motion in the vicinity of a rotating homogeneous dumbbell-shaped body through the polyhedron model. First, a geometric model of dumbbell-shaped bodies is established. The equilibria points and stabilities thereof are analyzed under different parameters. Then, local motion around equilibrium points is investigated. Based on the continuation method and bifurcation theory, several families of periodic orbits are found around these equilibria. Finally, to better understand the global orbital dynamics of particles around a dumbbell-shaped body, the invariant manifolds associated with periodic orbits are discussed. Four heteroclinic connections are found between equilibria. Using Poincaré sections, trajectories are designed for transfers between different periodic orbits. Those trajectories allow for low-energy global transfer around a dumbbell-shaped body and can be references for designing reconnaissance orbits in future asteroid-exploration missions. © 2017, Springer Science+Business Media Dordrecht.


Cui P.,Beijing Institute of Technology | Cui P.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Cui P.,Key Laboratory of Dynamics and Control of Flight Vehicle | Ge D.,Beijing Institute of Technology | And 5 more authors.
Acta Astronautica | Year: 2017

Landing safety is the prior concern in planetary exploration missions. With the development of precise landing technology, future missions require vehicles to land on places of great scientific interest which are usually surrounded by rocks and craters. In order to perform a safe landing, the vehicle should be capable of detecting hazards, estimating its fuel consumption as well as touchdown performance, and locating a safe spot to land. The landing site selection process can be treated as an optimization problem which, however, cannot be efficiently solved through traditional optimization methods due to its complexity. Hence, the paper proposes a synthetic landing area assessment criterion, safety index, as a solution of the problem, which selects the best landing site by assessing terrain safety, fuel consumption and touchdown performance during descent. The computation effort is cut down after reducing the selection scope and the optimal landing site is found through a quick one-dimensional search. A typical example based on the Mars Science Laboratory mission is simulated to demonstrate the capability of the method. It is proved that the proposed strategy manages to pick out a safe landing site for the mission effectively. The safety index can be applied in various planetary descent phases and provides reference for future mission designs. © 2017 The Authors


Yu Z.,Beijing Institute of Technology | Yu Z.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Cui P.,Beijing Institute of Technology | Cui P.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | And 5 more authors.
Proceedings of the International Astronautical Congress, IAC | Year: 2016

Future Mars landing missions will require the capability of precisely landing at certain site of special scientific interests to gather more valuable scientific materials. Autonomous navigation in the Mars approach, entry, and landing plays an important role in fulfilling a precision landing mission. To improve the performance of traditional dead reckoning based navigation approach, radiometric measurement based navigation scheme has been proposed. However, there are no sufficient number of beacons capable of navigation. Therefore the navigation scheme has to be optimized in order to use the limited information efficiently. This paper aims to analyze the feasibility and performance of the radiometric measurement based navigation scheme in the Mars approach, entry, and powered descent phases. Furthermore, a novel performance based optimization method for navigation scheme is proposed. The observability of navigation system is used as an index describing the navigation capability. Focusing on the relationship between the configuration of radio beacons and observability, the Fisher information matrix is introduced to analytically derive the degree of observability in each phase, which gives valuable conclusions for navigation system design. In order to improve the navigation performance, the navigation scheme is optimized via two different approaches based on the observability. Firstly, the configuration of beacons is optimized using genetic algorithm, which gives the best locations of beacons (or the best orbit of navigation orbiters). This is the main approach to improve the navigation capability. Secondly, if the locations of beacons are fixed and not optimal, the trajectory of spacecraft is then optimized using pseudospectral method to further improve the acquisition efficiency of navigation information. Numerical simulations of Mars approach, entry, and powered descent phases demonstrate the feasibility and significance of proposed approaches for the optimization of navigation scheme. The navigation accuracy can be greatly improved by locating the positions of beacons appropriately. Furthermore, a 3D simulation and analysis system is developed for Mars landing. Simulation results show the potential advantage of radiometric measurement based navigation scheme, which provides a possible solution to the accuracy navigation for future Mars landing missions. Copyright © 2016 by the International Astronautical Federation (IAF). All rights reserved.


Hu H.,Beijing Institute of Technology | Hu H.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Hu H.,Key Laboratory of Dynamics and Control of Flight Vehicle | Zhu S.,Beijing Institute of Technology | And 5 more authors.
Aerospace Science and Technology | Year: 2016

This paper aims at desensitizing the optimal trajectory for landing on the small bodies with reduced landing error in the presence of initial state error, parameters uncertainties of the target body (the gravity and the body's rotation rate) and thrust error (the error in thrust magnitude and direction). The motion of the lander is expressed in the body-fixed coordinate frame, and the thruster is considered to be variable. Instead of directly optimizing the landing trajectory, this paper propagates the linear covariance of the stochastic landing dynamics equations, and minimizes the fuel consumption as well as the covariance. Firstly, the stochastic state equations including the effects of these uncertainties are constructed. The rotation rate is augmented as the new state of the state equations, and the uncertainties in gravity and thruster are modeled as the stochastic process noise acting on the lander. Then, the closed-loop linear covariance is derived and optimized with the fuel consumption performance index as a penalty factor. Finally, several sets of simulations are performed in the scenarios of Eros 433 and Vesta. The open-loop trajectory is firstly performed in the scenario of Eros 433 and the result shows that these uncertainties contribute greatly to the trajectory dispersions. The 3σ trajectory dispersions for tracking the optimal and desensitized optimal trajectory show that the desensitized approach reduces the landing error effectively. And the statistic landing velocities show that the desensitized approach meets the requirement of soft and stable landing on small bodies. To especially discuss the fuel consumption of optimal and desensitized optimal trajectory, the simulation in the scenario of Vesta is performed. The results show that the desensitized optimal approach takes only about 1.01kg more fuel for the lander of 800kg size. And the landing error of desensitized trajectory is reduced significantly compared to that of the optimal trajectory. The total simulations in the scenario of Eros 433 and Vesta indicate that the desensitized approach is fuel-saving, and can reduce the landing error effectively for landing on small bodies. © 2015 Elsevier Masson SAS. All rights reserved.


Ge D.,Beijing Institute of Technology | Ge D.,Key laboratory of Autonomous Navigation and Control for Deep Space Exploration | Ge D.,Key Laboratory of Dynamics and Control of Flight Vehicle | Gao A.,Beijing Institute of Technology | And 5 more authors.
2016 AIAA Guidance, Navigation, and Control Conference | Year: 2016

In Mars landing process, smaller hazards like rocks and craters can only be detected when the vehicle is near the surface. The original landing point might be found dangerous and thus the onboard selection of a new landing site and a real-time trajectory generation become the key to the success of the whole mission. In this paper, an autonomous online safe landing site selection considering maneuverability constraint during powered descent phase is proposed. The new landing site is selected based on a novel criterion called Landing Site Selection Index (LSSI). The index includes not only factors like safety of the terrain in view and terminal motion state, but also the maneuverability of the vehicle. A real-time slidingmode guidance is adopted to transfer the vehicle to the updated destination. The online selection and transfer process ensures the safety of the landing mission from multiple aspects. Further Monte Carlo simulations show the effectiveness and robustness of the scheme. © 2016, (publisher). All rights reserved.


Yu Z.,Beijing Institute of Technology | Yu Z.,Key Laboratory of Dynamics and Control of Flight Vehicle | Yu Z.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Zhao Z.,Beijing Institute of Technology | And 5 more authors.
2016 AIAA Guidance, Navigation, and Control Conference | Year: 2016

Atmospheric entry guidance is a necessary technology for a Mars pin-point landing in the future. For a preferred reference-tracking guidance, trajectory optimization is an indispensable prerequisite. In order to account for the disturbance of initial states and atmospheric density which is a practical situation for Mars atmospheric entry as well as to improve the navigation performance, an observability-based robust trajectory optimization method is proposed. The determinant of Fisher information matrix is used to quantify the degree of observability, and the integration of the degree of observability is chosen as the objective function. Meanwhile, by introducing the polynomial chaos theory, the uncertainty propagation of states and path constraint functions can be characterized. Then the traditional trajectory optimization problem is transformed and solved by pseudospectral method. A Mars entry navigation scenario is considered and the entry trajectory is optimized. Simulation results demonstrate the efficiency and accuracy of the proposed method. Meanwhile, the accuracy of polynomial chaos and linearization approaches is also discussed. It is concluded that the proposed robust trajectory optimization method is more suitable for the scenario design of Mars atmospheric entry. © 2016, (publisher). All rights reserved.


Yu Z.,Beijing Institute of Technology | Yu Z.,Key Laboratory of Dynamics and Control of Flight Vehicle | Yu Z.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Cui P.,Beijing Institute of Technology | And 3 more authors.
Aerospace Science and Technology | Year: 2016

In order to compute the sequential state estimation of Mars entry dynamic system from noisy observations, a deterministic square-root Kalman filter is developed with the implementation of polynomial chaos expansion. The filter allows for the nonlinearity of dynamic system and observation model without the need for assumption about the Gaussian distribution of state. In the algorithm, a minimum variance based data assimilation scheme is developed. The resulting Kalman type updates of state's mean and deviations are performed separately and the square-root formulation of coefficients of polynomial chaos can be computed directly from the polynomial chaos expansion of forecasted states and observations. Two autonomous navigation scenarios based on the Mars Network are considered to quantify the benefits of polynomial chaos based square-root Kalman filter over the other usual nonlinear filters. Additionally, the contrastive analysis of propagations with non-Gaussian states is conducted. Simulation results show that a more accurate estimation and faster convergence can be achieved from the proposed nonlinear filter. Finally, the accuracy and time efficiency of the polynomial chaos based square-root Kalman filter are further analyzed and the optimal order of polynomial chaos is recommended. © 2016 Elsevier Masson SAS.


Wu C.-Q.,Beijing Institute of Technology | Wu C.-Q.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Xu R.,Beijing Institute of Technology | Xu R.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | And 4 more authors.
Yuhang Xuebao/Journal of Astronautics | Year: 2016

The objective of this paper is to design an optimal attitude maneuver path for a rigid body spacecraft under complex constraints. Firstly, dynamics and kinematic constraints, bounded constraints and attitude pointing constraints are described and analyzed. Especially, the attitude pointing constraints are formulized as the nonconvex quadratic form; Secondly, the constrained attitude maneuver problem can be formulated as the nonconvex quadratically constrained quadratic programming with the target that the energy-cost is smallest; Then the linear relaxation technique is introduced, and the problem is converted into a bilinear programming problem, in which convex envelope and concave envelope of one variable can be obtained. By this theory the complexity of solving is reduced and a linear relaxation of the original problem can be obtained. Meanwhile, in order to improve the solution accuracy, an iterative planning algorithm based on evaluation function is presented in this paper. This algorithm makes the solution of linear relaxation as the initial value, and an optimal solution can be achieved by iteration ultimately. Simulation results show that this method not only meets the complex attitude constraints to give an optimal attitude maneuver path, but also reduces energy consumption. © 2016, Editorial Dept. of JA. All right reserved.


Wu C.,Beijing Institute of Technology | Wu C.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Xu R.,Beijing Institute of Technology | Xu R.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | And 4 more authors.
Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016 | Year: 2016

During the deep space exploration missions a lot of attitude maneuvers need to be completed for the change of different attitude. Meanwhile, in the course of the explorer attitude maneuver there are many attitude pointing constraints due to the diversity of space tasks. Firstly, attitude kinematic and dynamic equations based on quaternion are established in this paper, which laid the foundation for design and simulation of the planning system. Secondly, to improve system stability and robustness of strong disturbance, an autonomous attitude planning system based sliding mode control has been proposed. In addition, a constraint monitor module ensures that the attitude commands received from the attitude controllers do not violate attitude pointing constraints. Finally, simulation results demonstrate that: the methods in this paper not only meet complex attitude pointing constraints but also achieve high-precision attitude maneuver in large angle maneuver under high time-varying disturbance torque, and the attitude maneuver path is smoother and feasible for implementation. © 2016 IEEE.


Yan J.,Beijing Institute of Technology | Yan J.,Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration | Yan J.,Key Laboratory of Dynamics and Control of Flight Vehicle | Shengying Z.,Beijing Institute of Technology | And 3 more authors.
Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016 | Year: 2016

According to task requests of deep space exploration approach phase such as autonomy, real-time and so on, we did a research into the problem of autonomous navigation at this approach phase and put forward an autonomous navigation project which made use of radio beacon and navigation camera to determine relative position and velocity of the spacecraft. The radio beacon could measure its distance to the spacecraft and the navigation camera could acquire the line-of-sight vector to the target. With Kalman filter we could get the spacecraft's state information. The observability degree of the navigation system was increased by importing a new observation. In order to verify the performance of this autonomous navigation system, Simulink tests based on the practical data of Deep Impact mission were carried on. The results show that the presented method can not only meet navigation requests of approach phase but also gain the navigation system observability degree. © 2016 IEEE.

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