Design and implementation of a relative state estimator for docking and formation control of modular autonomous spacecraft
Name
176870471-MIT.pdf
Description
Full printable version
Size
9.33 MB
Format
Adobe PDF
Checksum (MD5)
b786f79ab7d015145ac5c9f43e424165
Author(s)
Hoff, Nicholas R
Advisor(s)
David W. Miller.
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
Modularity is a promising design concept for space systems. In a modular satellite, the individual subsystems would be broken down into physically distinct modules, which would then dynamically recombine into an aggregate vehicle. This could improve the flexibility and reusability of satellites, and could even enable some mission objectives which are not possible at all with monolithic vehicles. However, modularity requires that some additional new elements be included in the design that are not needed with a monolithic satellite. Two of these are a docking interface to allow modules to attach, and a position measurement system to allow modules to fly accurately in formation and dock with each other. These two additional elements are explored in this thesis. The central focus is on a relative state estimator based on an extended Kalman filter. The estimator is first presented theoretically, then the results of implementation and hardware testing are discussed. This thesis presents two main hardware applications for the estimator, both of which mirror prime space-based applications of modularity itself: docking and formation maintenance/reconfiguration.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.
Includes bibliographical references (p. 101-103).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
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