Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis
Many objects in space are passive, with unknown inertial properties. If attempting to dock autonomously to an uncooperative object (one not equipped with working sensors or actuators), a motion model is required to predict the location of the desired docking location into the future. Additionally, f...
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| Format: | Article |
| Language: | en_US |
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American Institute of Aeronautics and Astronautics
2018
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| Online Access: | http://hdl.handle.net/1721.1/117602 https://orcid.org/0000-0002-0692-8665 https://orcid.org/0000-0001-6099-0614 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-8863-6550 |
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| author | Setterfield, Timothy Philip Miller, David W Saenz Otero, Alvar Frazzoli, Emilio Leonard, John J |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Setterfield, Timothy Philip Miller, David W Saenz Otero, Alvar Frazzoli, Emilio Leonard, John J |
| author_sort | Setterfield, Timothy Philip |
| collection | MIT |
| description | Many objects in space are passive, with unknown inertial properties. If attempting to dock autonomously to an uncooperative object (one not equipped with working sensors or actuators), a motion model is required to predict the location of the desired docking location into the future. Additionally, for cooperative satellites that failed to deploy hardware, accurate knowledge of the object’s principal axes and inertia ratios may aid in diagnosing the problem. This paper develops algorithms for estimation of the analytical motion model, principal axes, and inertia ratios of a passive on-orbit object. The polhode of the object is estimated visually (for uncooperative targets) or with gyroscopes (for cooperative targets). Estimation of the principal axes is performed by calculating the body frame orientation for which ellipses and hyperbolas optimally fit the projections of the polhode onto the principal planes. Given the polhode in the object’s body frame, constraints are used to restrict the feasible inertia ratios to a single degree of freedom. Constrained optimization is then used to estimate the inertia ratios. The algorithms are validated using visual and gyroscope data from the SPHERES-VERTIGO test platform on the ISS and visual data from simulation. |
| first_indexed | 2024-09-23T11:40:51Z |
| format | Article |
| id | mit-1721.1/117602 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:40:51Z |
| publishDate | 2018 |
| publisher | American Institute of Aeronautics and Astronautics |
| record_format | dspace |
| spelling | mit-1721.1/1176022022-09-27T21:12:25Z Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis Setterfield, Timothy Philip Miller, David W Saenz Otero, Alvar Frazzoli, Emilio Leonard, John J Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Mechanical Engineering Setterfield, Timothy Philip Miller, David W Saenz Otero, Alvar Frazzoli, Emilio Leonard, John J Many objects in space are passive, with unknown inertial properties. If attempting to dock autonomously to an uncooperative object (one not equipped with working sensors or actuators), a motion model is required to predict the location of the desired docking location into the future. Additionally, for cooperative satellites that failed to deploy hardware, accurate knowledge of the object’s principal axes and inertia ratios may aid in diagnosing the problem. This paper develops algorithms for estimation of the analytical motion model, principal axes, and inertia ratios of a passive on-orbit object. The polhode of the object is estimated visually (for uncooperative targets) or with gyroscopes (for cooperative targets). Estimation of the principal axes is performed by calculating the body frame orientation for which ellipses and hyperbolas optimally fit the projections of the polhode onto the principal planes. Given the polhode in the object’s body frame, constraints are used to restrict the feasible inertia ratios to a single degree of freedom. Constrained optimization is then used to estimate the inertia ratios. The algorithms are validated using visual and gyroscope data from the SPHERES-VERTIGO test platform on the ISS and visual data from simulation. United States. Defense Advanced Research Projects Agency (International Space Station Spheres Integrated Research Experiments (InSPIRE) and InSPIRE II contract NNH11CC25C) United States. Defense Advanced Research Projects Agency (International Space Station Spheres Integrated Research Experiments (InSPIRE) and InSPIRE II contract NNH13CJ23C) United States. National Aeronautics and Space Administration (award NNX16AT66A) 2018-09-04T13:02:21Z 2018-09-04T13:02:21Z 2018-06 2018-03 Article http://purl.org/eprint/type/JournalArticle 0731-5090 1533-3884 http://hdl.handle.net/1721.1/117602 Setterfield, Timothy P., David W. Miller, Alvar Saenz-Otero, Emilio Frazzoli, and John J. Leonard. “Inertial Properties Estimation of a Passive On-Orbit Object Using Polhode Analysis.” Journal of Guidance, Control, and Dynamics (June 29, 2018): 1–18. https://orcid.org/0000-0002-0692-8665 https://orcid.org/0000-0001-6099-0614 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-8863-6550 en_US https://doi.org/10.2514/1.G003394 Journal of Guidance, Control, and Dynamics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf American Institute of Aeronautics and Astronautics Tim Setterfield |
| spellingShingle | Setterfield, Timothy Philip Miller, David W Saenz Otero, Alvar Frazzoli, Emilio Leonard, John J Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis |
| title | Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis |
| title_full | Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis |
| title_fullStr | Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis |
| title_full_unstemmed | Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis |
| title_short | Inertial Properties Estimation of a Passive On-orbit Object Using Polhode Analysis |
| title_sort | inertial properties estimation of a passive on orbit object using polhode analysis |
| url | http://hdl.handle.net/1721.1/117602 https://orcid.org/0000-0002-0692-8665 https://orcid.org/0000-0001-6099-0614 https://orcid.org/0000-0002-0505-1400 https://orcid.org/0000-0002-8863-6550 |
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