Paul Brugarolas

An estimation algorithm for vision-based exploration of small bodies in space

This paper summarizes a methodology for designing on-board state estimators in support of spacecraft exploration of small bodies such as asteroids and comets. This paper focuses on an estimation algorithm that incorporates two basic computer-vision measurement types: a landmark table and a paired feature table. Several innovations are developed to incorporate these measurement types into the on-board state estimation algorithm. Simulations are provided to demonstrate the feasibility of the approach.

Robust switching missile autopilot

A robust switching controller is developed by application of the unfalsified control concept. Key ideas and implementation issues are discussed. In particular, a new performance specification and a falsification algorithm are developed. Simulation results are provided using a nonlinear model for the missile.

Space-quality data from balloon-borne telescopes: the High Altitude Lensing Observatory (HALO)

We present a method for attaining sub-arcsecond pointing stability during sub-orbital balloon flights, as designed for in the High Altitude Lensing Observatory (HALO) concept. The pointing method presented here has the potential to perform near-space quality optical astronomical imaging at similar to 1-2% of the cost of space-based missions. We also discuss an architecture that can achieve sufficient thermo-mechanical stability to match the pointing stability. This concept is motivated by advances in the development and testing of Ultra Long Duration Balloon (ULDB) flights which promise to allow observation campaigns lasting more than three months. The design incorporates a multi-stage pointing architecture comprising: a gondola coarse azimuth control system, a multi-axis nested gimbal frame structure with arcsecond stability, a telescope de-rotator to eliminate field rotation, and a fine guidance stage consisting of both a telescope mounted angular rate sensor and guide CCDs in the focal plane to drive a Fast-Steering Mirror. We discuss the results of pointing tests together with a preliminary thermo-mechanical analysis required for sub-arcsecond pointing at high altitude. Possible future applications in the areas of wide-field surveys and exoplanet searches are also discussed

Attitude controller for the atmospheric entry of the Mars Science Laboratory

This paper describes the attitude controller for the atmospheric entry of the Mars Science Laboratory (MSL). The controller will command 8 RCS thrusters to control the 3- axis attitude of the entry capsule. The Entry Controller is formulated as three independent channels in the control frame, which is nominally aligned with the stability frame. Each channel has a feedfoward and a feedback path. The feedforward path enables fast response to large bank commands. The feedback path stabilizes the vehicle angle of attack and sideslip around its trim position, and tracks bank commands. The feedback path has a PD/D control structure with deadbands that minimizes fuel usage. The performance of this design is demonstrated via computer simulations.

System Identification of a Nonlinear Mode for the Shuttle Radar Topography Mission

A study is presented to identify a nonlinear bending mode for a 60-m space structure. This study was done in support of the Shuttle Radar Topography Mission (SRTM) and postflight height reconstruction efforts. For this purpose, one linear model and three nonlinear models of the structural mode were considered and evaluated. The best model was determined based on in-flight data collected during the mission and was implemented as part of the final ground software that was used for reconstructing relative radar antenna motion for the SRTM interferometer payload. High accuracy estimates of the relative states were essential for supporting the motion compensation algorithm used in the radar interferometry processor for calculating the desired topographic maps. The improvement resulting fromidentifying nonlinear modal behavior contributed to meeting mission performance requirements.

System verification of MSL Skycrane using an integrated ADAMS simulation

Mars Science Laboratory (MSL) will use the Skycrane architecture to execute final descent and landing maneuvers. The Skycrane phase uses closed-loop feedback control throughout the entire phase, starting with rover separation, through mobility deploy, and through touchdown, ending only when the bridles have completely slacked. The integrated ADAMS simulation described in this paper couples complex dynamical models created by the mechanical subsystem with actual GNC flight software algorithms that have been compiled and linked into ADAMS. These integrated simulations provide the project with the best means to verify key Skycrane requirements which have a tightly coupled GNC-Mechanical aspect to them. It also provides the best opportunity to validate the design of the algorithm that determines when to cut the bridles. The results of the simulations show the excellent performance of the Skycrane system.

A Faceted Shape Model Approach to Altimetry and Velocimetry for Spacecraft Exploration of Irregularly Shaped Bodies

Range and velocity sensors based on lidar or radar with multiple beams are often used to measure the altitude and velocity, respectively, of a spacecraft above a target body. A difficulty that arises when navigating about small bodies such as asteroids or comets, is that the notion of altitude is largely obscured by the irregular shape of the target surface. This paper develops a method to incorporate the multibeam altimeter and Doppler velocimeter measurements into the on-board spacecraft state estimator by using information from a faceted shape model representation of the target body surface. The faceted shape model representation is very general and does not place any restriction on the surface complexity. This allows the estimation method to be applicable to a broad class of irregularly shaped target bodies.