GPS-based relative navigation for the Proba-3 formation flying mission

The primary objective of the Proba-3 mission is to build a solar coronagraph composed of two satellites flying in close formation on a high elliptical orbit and tightly controlled at apogee. Both spacecraft will embark a low-cost GPS receiver, originally designed for low-Earth orbits, to support the mission operations and planning during the perigee passage, when the GPS constellation is visible. The paper demonstrates the possibility of extending the utilization range of the GPS-based navigation system to serve as sensor for formation acquisition and coarse formation keeping. The results presented in the paper aim at achieving an unprecedented degree of realism using a high-fidelity simulation environment with hardware-in-the-loop capabilities. A modified version of the flight-proven PRISMA navigation system, composed of two single-frequency Phoenix GPS receivers and an advanced real-time onboard navigation filter, has been retained for this analysis. For several-day long simulations, the GPS receivers are replaced by software emulation to accelerate the simulation process. Special attention has been paid to the receiver link budget and to the selection of a proper attitude profile. Overall the paper demonstrates that, despite a limited GPS tracking time, the onboard navigation filter gets enough measurements to perform a relative orbit determination accurate at the centimeter level at perigee. Afterwards, the orbit prediction performance depends mainly on the quality of the onboard modeling of the differential solar radiation pressure acting on the satellites. When not taken into account, this perturbation is responsible for relative navigation errors at apogee up to 50 m. The errors can be reduced to only 10 m if the navigation filter is able to model this disturbance with 70% fidelity.     

卫星GPS组合姿态确定系统方案研究

采用ＧＰＳ定姿技术作为卫星高精度自主姿态确定系统的备份，可以提高系统可靠性。在小型和微小卫星上采用ＧＰＳ定姿技术，保证在满足重量、功耗和其它技术指标的条件下，姿态和轨道控制系统全面满足任务要求。本方案为探索当今姿态和轨道控制系统基本型的研究迈出了一步。     

利用GPS非差观测值的GRACE卫星精密定轨

参照GPS精密单点定位（PPP，Precise Point Positioning）模型设计了一种新的卫星定轨方法一组合星载加速度计测量数据和IGS提供的GPS精密星历及精密钟差数据进行低轨卫星的精密定轨。利用星载加速度计提高卫星受力模型准确性，使动力法定轨精度和可靠性都得到提升。同时，采用多种改正技术提高GPS非差观测值测量精度，保证最终高精度卫星定轨。本文建立了卫星定轨的轨道滤波模型，得出了有益的结论，即采用星载加速度计测量卫星非保守力可提高卫星定轨精度，在ITRF2000参考系下三轴精度优于18cm。这种方法不需要在全球建市基准观测站．定轨设备简单．费用低廉．     

导航星座的任务重构技术研究

以COMPASS卫星导航星座为对象,研究了导航任务的重构技术。首先,对COMPASS卫星导航星座的主要性能进行了分析和仿真;其次,分析了星座中部分卫星失效后对导航性能的影响;最后,提出了分别利用在轨运行的高、中、低轨卫星及临近空间飞行器进行任务重构的方法,并对重构后的导航性能进行了仿真。仿真结果表明：提出的任务重构方法对于保证导航星座的正常运行是有效的。同时,对于研究飞行器应急测控技术具有借鉴意义。     

Influence of sensor and actuator errors on impulsive satellite formation control methods

This paper investigates how sensor and actuator errors are impacting formation control accuracy and propellant consumption of a two-satellite formation in a low Earth orbit. Realistic relative navigation errors are implemented, based on the results from the PRISMA mission, as well as realistic actuator uncertainty and actuator constraints. Two impulsive control methods are investigated. The first method is based on a controller that is implemented onboard PRISMA and the second method uses linear programming to arrive at a model predictive controller. The control methods are tested in a simulation environment and are subjected to orbital perturbations and realistic sensor errors and actuator errors. Both control methods are able to maintain the desired relative geometry of a projected circular orbit in the presence of the errors. The PRISMA control method demonstrates lower propellant consumption, while the model predictive controller shows better control accuracy. The results show that, based on the used scenario, sensor errors dominate both the formation control accuracy and propellant consumption. The versatility of the model predictive controller is demonstrated in a challenging formation control scenario including formation maintenance and formation reconfiguration tasks.     

PRISMA—A formation flying project in implementation phase

The PRISMA project for autonomous formation flying and rendezvous has passed its critical design review in February–March 2007. The project comprises two satellites which are an in-orbit testbed for Guidance, Navigation and Control (GNC) algorithms and sensors for advanced formation flying and rendezvous. Several experiments involving GNC algorithms, sensors and thrusters will be performed during a 10 month mission with launch planned for the second half of 2009.The project is run by the Swedish Space Corporation (SSC) in close cooperation with the German Aerospace Center (DLR), the French Space Agency (CNES) and the Technical University of Denmark (DTU). Additionally, the project also will demonstrate flight worthiness of two novel motor technologies: one that uses environmentally clean and non-hazardous propellant, and one that consists of a microthruster system based on MEMS technology.The project will demonstrate autonomous formation flying and rendezvous based on several sensors—GPS, RF-based and vision based—with different objectives and in different combinations. The GPS-based onboard navigation system, contributed by DLR, offers relative orbit information in real-time in decimetre range. The RF-based navigation instrument intended for DARWIN, under CNES development, will be tested for the first time on PRISMA, both for instrument performance, but also in closed loop as main sensor for formation flying. Several rendezvous and proximity manoeuvre experiments will be demonstrated using only vision based sensor information coming from the modified star camera provided by DTU. Semi-autonomous operations ranging from 200 km to 1 m separation between the satellites will be demonstrated.With the project now in the verification phase particular attention is given to the specific formation flying and rendezvous functionality on instrument, GNC-software and system level.     

一种提高导航卫星星座自主定轨精度的方法研究

针对近地导航卫星仅利用星间测距进行自主定轨时,因无法消除星座整体旋转误差而导致长期自主定轨精度不高的问题,提出了利用拉格朗日导航卫星星座与近地导航卫星星座联合仅利用星间测距进行自主定轨的方法。建立了拉格朗日轨道导航卫星星座和近地导航卫星星座联合仅利用星间测距进行自主定轨的动力学模型和观测模型。利用扩展Kalman滤波（EKF）算法和星间测距信息实现了拉格朗日轨道导航星座与近地导航星座的长期自主定轨。以4颗拉格朗日卫星组成的导航星座与12颗GPS卫星组成的近地导航星座作为仿真对象进行了仿真分析,仿真结果表明本文仅利用星间测距的联合自主定轨方法可以有效提高导航卫星星座的长期自主定轨精度。
     

GPS作为航天器全能敏感器的前景Ⅰ──GPS导航和定姿

本文全面介绍了ＧＰＳ在航天器导航和姿态确定领域应用的现状。首先概述ＧＰＳ的系统组成及其运行现状，接着阐明ＧＰＳ伪距导航的原理，介绍了差分ＧＰＳ导航的发展及目前水平，总结了ＧＰＳ导航的误差源。文中重点介绍了国外在ＧＰＳ定姿这一重要航天应用领域中取得的进展，分析了影响ＧＰＳ定委性能的主要因素──多路径效应、整数模糊解和载噪比，综述了降低或消除上述误差源的各种技术途径，在此基础上给出了ＧＰＳ定姿的性能包络曲线。     

Autonomous orbit maintenance system

Orbit maintenance is a major cost factor for Earth satellites in specialized orbits, such as a repeating ground track, or in formations. While autonomous attitude control is well established, the spacecraft's orbit is usually uncontrolled or maintained by ground station commands. For small, lower cost satellites, operations costs can be a dominant element of both cost and risk. This implies a need for low-cost autonomous orbit maintenance in order to allow such systems to be economically viable, particularly in today's constrained budget environment.

In addition, if the position of the spacecraft is controlled, it is therefore known in advance. Thus, mission planning can be done as far in advance as desired, without the need for replanning and frequent updating due to unpredictable orbit decay. An interesting characteristic of autonomous orbit maintenance is that it typically requires less software, and less complex software, than does orbit control from the ground. In many cases, an onboard orbit propagator is not needed.     

两行根数的精度评估

两行根数是北美防空司令部基于一般摄动理论产生的用于预报地球轨道飞行器位置和速度的一组轨道根数,用于近地卫星时所采用的数学模型是SPG4,它已被著名软件STK选为进行轨道推算的可选方法之一。文章对它的精度进行了评估,并认为它有很大的应用价值。     

同波束干涉测量差分相时延观测模型研究及验证

针对月球轨道交会对接地面高精度引导需求,对同波束干涉测量差分相延观测模型进行分析验证。根据甚长基线干涉测量几何时延观测量同一波前的定义,推导出同波束差分时延观测量的观测模型。并提出一种精确的同波束干涉测量差分相时延闭合算法,同时结合SELENE任务实测的数据计算差分相时延闭合值,用于对观测模型进行验证。实测数据计算结果表明,采用本文提出的精确算法显著地消除同一波前差分相时延闭合值中的趋势项,差分相时延闭合值的精度在0.5ps~1ps范围内,验证了观测模型的正确性。该研究对于后续的月球交会对接地面高精度测定轨任务分析设计将具有一定的参考价值。     

美国高轨抵近操作卫星MiTEx飞行任务及启示

简述了美国"微卫星技术试验"(Micro-satellite Technology Experiment,MiTEx)计划进展情况,根据目前可获得的最新的MiTEx卫星轨道数据,对其整个飞行过程进行了深入研究,划分了MiTEx-A卫星与MiTEx-B卫星飞行阶段,描述了各阶段飞行轨迹,给出了飞行任务关键数据,对其飞行任务进行了总结。在飞行任务分析的基础上,结合国外对MiTEx卫星的相关报道,分析了MiTEx卫星可能具备的抵近操作任务执行能力,提出了对高轨非合作目标抵近操作应用的启示,总结分析了执行高轨抵近操作任务所需的关键技术。     

小偏心率低轨卫星的星历参数拟合法

研究了小偏心率低轨卫星参数拟合理论,数据来源于某星载GPS接收机定位数据。通过对小偏心率近地卫星的轨道根数进行频谱分析,建立了对应的数学模型,用采样数据对数学模型中的参数用最小二乘法进行估计。对算法进行了模拟仿真,结果表明,该方法简单有效,计算速度快,拟合和短时间（10min）预报误差在100m量级。     

Post mission life plan for FORMOSAT-2

This paper presents the enhancement in mission operations, the mission life state-of-health (SOH) trending analysis, and the post mission life plan of the FORMOSAT-2 (or FS2, Formosa satellite #2, was called ROCSAT-2, or RS2, Republic of China satellite #2, previously) during its five years mission life from 20 May 2004 to 20 May 2009. There are two payloads onboard FS2: a remote sensing instrument (RSI) with nadir ground sampling distance (GSD) of 2 m for panchromatic (PAN) and GSD of 8 m for multi-spectral (MS, 4 bands) as the primary payload, and an imager for sprite and upper atmospheric lightning (ISUAL) as the secondary payload. It was launched on 20 May 2004. The design life is 7 years while the mission life is 5 years. In other words, the end of mission life date of FS2 is 20 May 2009. Generally speaking, FS2 is still at very good condition in its SOH. Post mission life plan for FS2 consists of: the practice of orbit transfer for global coverage and better resolution, the development of gyroless attitude control, and the method for life extension. It is expected that the working life of FS2 can be extended 3–5 years.     

MERLIN: Mars-Moon Exploration,Reconnaissance and Landed Investigation

Mars' moons Phobos and Deimos are low-albedo, D-type bodies that may preserve samples of outer solar system material that contributed organics and volatiles to the accreting terrestrial planets. A Discovery-class mission concept described in this paper, the Mars-Moon Exploration, Reconnaissance and Landed Investigation (MERLIN), will obtain in situ measurements from Deimos to test models for the moon's origin. The measurement objectives of MERLIN are to determine Deimos' elemental and mineralogical composition, to investigate its volatile and organic content, and to characterize processes that have modified its surface. To achieve these objectives, a landed payload will provide stereo imaging and measurements of elemental and mineralogical composition and interior structure. An orbital payload will acquire global high-resolution and color imaging, putting the landing site in context by characterizing Deimos' geology. Following MOI the spacecraft flies in formation with Deimos, and uses small changes in its orbit around Mars to investigate Deimos from a range of altitudes and illuminations over 4 months. Data taken during 1- to 2-km altitude flyovers will certify a landing site. The spacecraft will be delivered to a point several kilometers above Deimos, and will navigate to landing on a fresh exposure of regolith using onboard imaging. 90 days of baseline landed operations will provide a complete set of measurements, with schedule reserve, and there is sufficient propellant to repeat the measurements at a second site.     

导航卫星光压建模及表面光学特性参数影响分析

为分析某导航卫星（为表述方便,下文称为B导航卫星或B卫星）的表面光学特性参数变化产生的影响,本文首先参考GPS光压建模方法,结合B卫星的结构、控制及轨道特点,构建了一种适合B卫星的分析型光压模型。在该光压模型的约束下,分析表面光学特性参数变化产生的影响。最后利用建立的光压模型进行轨道预报,与精密星历等实际数据比较,验证了模型并分析了表面光学特性参数对轨道预报的影响。     

GPS的空间应用

由于ＧＰＳ系统的特点以及低轨道空间的特殊应用环境，使得ＧＰＳ在空间上的应用存在着与地面应用所不同的特点，本文着重分析这些空间特点对ＧＰＳ定位实现的影响，得出以下结论：对空间用户而言，ＧＰＳ卫星对用户的覆盖有着不同于地面的特点，但可以看出，对９００公里高度以下的低轨用户，ＧＰＳ卫星对用户的覆盖不会比地面更差。同时，电离层延迟误差影响大大降低，对流层延迟误差可以不予考虑。ＧＰＳ系统本身已对相对论效应的长期项影响作了校正，但对空间用户必须重新考虑。由于空间用户运动的规律性，及我们可能对诸如信号的Ｄｏｐｐｌｅｒ频移，多路径干扰等成份作较为准确的估计并加以补偿，从而可能获得高于地面的测量精度     

Rosetta: The ESA comet rendezvous mission

Rosetta was selected in November 1993 for the ESA Cornerstone 3 mission, to be launched in 2003, dedicated to the exploration of the small bodies of the solar system (asteroids and comets). Following this selection, the Rosetta mission and its spacecraft have been completely reviewed: this paper presents the studies performed the proposed mission and the resulting spacecraft design.

Three mission opportunities have been identified in 2003–2004, allowing rendezvous with a comet. From a single Ariane 5 launch, the transfer to the comet orbit will be supported by planetary gravity assists (two from Earth, one from Venus or Mars); during the transfer sequence, two asteroid fly-bys will occur, allowing first mission science phases. The comet rendezvous will occur 8–9 years after launch; Rosetta will orbit around the comet and the main science mission phase will take place up to the comet perihelion (1–2 years duration).

The spacecraft design is driven (i) by the communication scenario with the Earth and its equipment, (ii) by the autonomy requirements for the long cruise phases which are not supported by the ground stations, (iii) by the solar cells solar array for the electrical power supply and (iv) by the navigation scenario and sensors for cruise, target approach and rendezvous phases. These requirements will be developed and the satellite design will be presented.     

火星轨道交会自主导航与制导方法

对火星采样返回任务中的火星轨道交会自主导航和制导技术进行了研究。采用光学自主导航敏感器测量的火星中心方向和视半径，相对敏感器测量的相对位置等观测量，设计了导航滤波器同时估计轨返组合体和上升器的轨道。在导航滤波器设计中，针对光学自主导航敏感器更新频率远低于滤波解算频率的问题，设计了一种连续观测量构造算法，确保每个滤波周期均可进行测量更新，以提高导航精度。基于导航滤波器估计结果，采用T-H制导设计了4脉冲共椭圆交会策略实施轨道控制，从而构成近程交会自主导航和制导方案用于完成火星轨道交会任务。通过数学仿真校验了所提出方法的有效性。     

欧空局今后十年空间探测战略

欧空局目前正在研究今后十年的空间探测任务,这些任务可以分为两大类,一类是具有研究性的地球探测任务,另一类是可供使用的地球观察任务。这些研究要求的卫星质量不同,小的不足1000kg,大的可达3000kg;功率不同,小的不到500W,大的超过1500W;轨道高度也不同,从500km到800km。除降雨量观测任务由于飞行器结构和系统的限制是在低倾角轨道上执行外,其他大部分任务将在太阳同步轨道上执行。