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Estimation of inertial properties of a rigid structure maneuvered by satellite modules

Deep Parikh, Manoranjan Majji

Abstract

The LASR Laboratory is investigating the use of free-flying spacecraft modules in several on-orbit, servicing and manufacturing (OSAM) activities. Previous work consists of the system development and testing of the aforementioned thrust-capable modules. This study makes advancements to devise, implement and validate an algorithm for the estimation of inertial parameters of a rigid structure, to be maneuvered with the help of Transforming Proximity Operations and Docking Service (TPODS) satellite modules. The primary contribution of this activity is observability analysis to infer a conducive input sequence for estimating the inertial parameters. For the experimental validation of proposed estimation algorithm, real-time pose measurements are logged through the VICON motion capture system and the recorded data is utilized to assess the performance of the estimation algorithm to predict mass and moment of inertia of an isolated TPODS module.

Estimation of inertial properties of a rigid structure maneuvered by satellite modules

Abstract

The LASR Laboratory is investigating the use of free-flying spacecraft modules in several on-orbit, servicing and manufacturing (OSAM) activities. Previous work consists of the system development and testing of the aforementioned thrust-capable modules. This study makes advancements to devise, implement and validate an algorithm for the estimation of inertial parameters of a rigid structure, to be maneuvered with the help of Transforming Proximity Operations and Docking Service (TPODS) satellite modules. The primary contribution of this activity is observability analysis to infer a conducive input sequence for estimating the inertial parameters. For the experimental validation of proposed estimation algorithm, real-time pose measurements are logged through the VICON motion capture system and the recorded data is utilized to assess the performance of the estimation algorithm to predict mass and moment of inertia of an isolated TPODS module.
Paper Structure (16 sections, 8 equations, 13 figures, 3 tables, 1 algorithm)

This paper contains 16 sections, 8 equations, 13 figures, 3 tables, 1 algorithm.

Table of Contents

  1. Introduction
  2. Objective
  3. Estimation Process
  4. Characterization of Thrusters
  5. Estimation of inertial properties
  6. Estimation using Non-linear Least-squares
  7. Estimation using Extended Kalman Filter
  8. Robustness Analysis
  9. Experimental Analysis
  10. Revised TPODS Module
  11. Measurement of true inertial parameters
  12. Experimental Setup
  13. Analysis of experimental data
  14. Extended Kalman Filter
  15. Conclusion
  16. ...and 1 more sections

Figures (13)

  • Figure 1: Parameter identification for thrust curve
  • Figure 2:
  • Figure 3: Comparison of LS estimate of various order and selected third order LS estimate.
  • Figure 4: Estimation of inertial parameters using position measurements and applied thrust
  • Figure 5: State and Output Sensitivity for simple and informed input
  • ...and 8 more figures