The E-Rocket: Low-cost Testbed for TVC Rocket GNC Validation
Pedro Santos, André Fonte, Pedro Martins, Paulo Oliveira
TL;DR
The E-Rocket, an electric-powered, low-cost rocket prototype for validation of Guidance, Navigation&Control (GNC) algorithms based on Thrust Vector Control (TVC), is presented.
Abstract
This paper presents the E-Rocket, an electric-powered, low-cost rocket prototype for validation of Guidance, Navigation & Control (GNC) algorithms based on Thrust Vector Control (TVC). Relying on commercially available components and 3D printed parts, a pair of contra-rotating DC brushless motors is assembled on a servo-actuated gimbal mechanism that provides thrust vectoring capability. A custom avionics hardware and software stack is developed considering a dual computer setup which leverages the capabilities of the PX4 autopilot and the modularity of ROS 2 to accommodate for tailored GNC algorithms. The platform is validated in an indoor motion-capture arena using a baseline PID-based trajectory tracking controller. Results demonstrate accurate trajectory tracking and confirm the suitability of the E-Rocket as a versatile testbed for rocket GNC algorithms.