具有视场约束的航天器下降机会约束预测控制与估计框架
A Chance Constraint Predictive Control and Estimation Framework for Spacecraft Descent with Field Of View Constraints
摘要：
近年来对小天体附近航天器的最优化方法和GNC的研究主要集中在下降、着陆、交会等方面，与关键的安全约束，如视线圆锥区和软着陆已显示出可喜的成果，本文认为下降任务的小行星表面的约束，包括机载相机和小行星表面标记，同时使用随机凸MPC法。建立了一个欠建模的小行星重力和航天器技术启发的测量模型，以发展的约束。然后提出了一种计算量小的随机线性二次型预测控制策略，利用基于机会的约束和最新的导航估计不确定性，使航天器在轨迹跟踪时保持在满意的表面标记视场内。估计的不确定性引起的收紧的约束，特别是解决。结果表明，强大的跟踪性能在各种轨迹。
英文摘要：
Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results; this paper considers descent missions to an asteroid surface with a constraint that consists of an onboard camera and asteroid surface markers while using a stochastic convex MPC law. An undermodeled asteroid gravity and spacecraft technology inspired measurement model is established to develop the constraint. Then a computationally light stochastic Linear Quadratic MPC strategy is presented to keep the spacecraft in satisfactory field of view of the surface markers while trajectory tracking, employing chance based constraints and up-to-date estimation uncertainty from navigation. The estimation uncertainty giving rise to the tightened constraints is particularly addressed. Results suggest robust tracking performance across a variety of trajectories.
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