论文标题
带有视场约束的航天器下降的机会约束预测性控制和估计框架
A Chance Constraint Predictive Control and Estimation Framework for Spacecraft Descent with Field Of View Constraints
论文作者
论文摘要
小体附近的航天器的优化方法和GNC的最新研究，侧重于下降，着陆，会合等，具有关键的安全限制，例如视线圆锥区和软着陆，已显示出令人鼓舞的结果；本文考虑到使用随机凸MPC法律的板载摄像头和小行星表面标记的约束，将下降任务带到小行星表面。建立了一个底层的小行星重力和航天器技术启发的测量模型以开发约束。然后，提出了计算光随机线性二次MPC策略，以使航天器保持在表面标记的令人满意的视野，同时轨迹跟踪，采用基于机会的约束和导航的最新估计不确定性。尤其解决了导致收紧约束的估计不确定性。结果表明在各种轨迹上进行稳健的跟踪性能。
Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results; this paper considers descent missions to an asteroid surface with a constraint that consists of an onboard camera and asteroid surface markers while using a stochastic convex MPC law. An undermodeled asteroid gravity and spacecraft technology inspired measurement model is established to develop the constraint. Then a computationally light stochastic Linear Quadratic MPC strategy is presented to keep the spacecraft in satisfactory field of view of the surface markers while trajectory tracking, employing chance based constraints and up-to-date estimation uncertainty from navigation. The estimation uncertainty giving rise to the tightened constraints is particularly addressed. Results suggest robust tracking performance across a variety of trajectories.
