小行星移动成像仪和地质观测仪（AMIGO）的Guidance, Navigation and Control
Guidance, Navigation and Control of Asteroid Mobile Imager and Geologic Observer (AMIGO)
摘要：
小行星的科学和起源被认为是行星科学十年调查的高度优先事项。微行星研究的主要科学目标是通过现场实验来解释SSSB中无法通过调查确定的地质过程，并了解微行星如何有助于行星的形成。地面观测不足以检查SSSB，因为它们只能测量物体表面的东西;然而，现场分析允许进一步近距离调查物体的表面特征和内部稳定性。为此，小行星移动成像仪和地质观测器（AMIGO）是一个自主的半充气式机器人，将成群作业，以有效地确定小行星表面的特征。装载的包裹是10 x10 x10厘米（相当于一个1U立方体卫星），部署了一个直径约1米的充气球体。三种移动模式的识别和设计：弹道跳跃，在跳旋转，和向上翻正机动。弹道跳跃为AMIGO机器人提供了探索小行星表面更大部分的能力，以比固定着陆器更大的区域进行采样。在跳跃过程中的旋转需要姿态控制的机器人，利用推进和反作用轮驱动。如果机器人倾斜或没有正确着陆，推进器和反作用轮的组合将纠正机器人的姿态。AMIGO推进系统利用升华基微机电系统技术作为轻型、低推力弹道跳跃和粗略姿态控制的手段。每个部署的AMIGO将在小行星表面跳跃多次。
英文摘要：
The science and origins of asteroids is deemed high priority in the Planetary Science Decadal Survey. Major scientific goals for the study of planetesimals are to decipher geological processes in SSSBs not determinable from investigation via in-situ experimentation, and to understand how planetesimals contribute to the formation of planets. Ground based observations are not sufficient to examine SSSBs, as they are only able to measure what is on the surface of the body; however, in-situ analysis allows for further, close up investigation as to the surface characteristics and the inner composure of the body. To this end, the Asteroid Mobile Imager and Geologic Observer (AMIGO) an autonomous semi-inflatable robot will operate in a swarm to efficiently characterize the surface of an asteroid. The stowed package is 10x10x10 cm (equivalent to a 1U CubeSat) that deploys an inflatable sphere of ~1m in diameter. Three mobility modes are identified and designed: ballistic hopping, rotation during hops, and up-righting maneuvers. Ballistic hops provide the AMIGO robot the ability to explore a larger portion of the asteroid's surface to sample a larger area than a stationary lander. Rotation during the hop entails attitude control of the robot, utilizing propulsion and reaction wheel actuation. In the event of the robot tipping or not landing up-right, a combination of thrusters and reaction wheels will correct the robot's attitude. The AMIGO propulsion system utilizes sublimate-based micro-electromechanical systems (MEMS) technology as a means of lightweight, low-thrust ballistic hopping and coarse attitude control. Each deployed AMIGO will hop across the surface of the asteroid multiple times.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
