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Autonomous Small Body Mapping and Spacecraft Navigation Via Real-Time SPC-SLAM

Baldini, Francesca and Harvard, Alexei and Chung, Soon-Jo and Nesnas, Issa and Bhaskaran, Shyamkumar (2018) Autonomous Small Body Mapping and Spacecraft Navigation Via Real-Time SPC-SLAM. In: 69th International Astronautical Congress (IAC), 1-5 October 2018, Bremen, Germany.

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Current methods for pose and shape estimation of small bodies, such as comets and asteroids, rely on extensive ground support and significant use of radiometric measurements using the Deep Space Network. The Stereo-Photoclinometry (SPC) technique is currently used to provide detailed topological information about a small body as well as its absolute orientation and position. While this technique has produced very accurate estimates, the core algorithm cannot be run in real-time and requires a team of scientists on the ground who must communicate with the spacecraft in order to oversee SPC operations. Autonomous onboard navigation addresses these limitations by eliminating the need for human oversight. In this paper, we present an optimization-based estimation algorithm for navigation that allows the spacecraft to autonomously approach and maneuver around an unknown small body by mapping its geometric shape, estimating its orientation, and simultaneously determining the trajectory of the center of mass of the small body. We show the effectiveness of the proposed algorithm using simulated data from a previous flight mission to Comet 67P.

Item Type:Conference or Workshop Item (Paper)
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Chung, Soon-Jo0000-0002-6657-3907
Alternate Title:Autonomous Small Body Mapping and Spacecraft Navigation
Additional Information:© 2018 by the International Astronautical Federation (IAF). Paper ID: 47373. This work was supported by the Jet Propulsion Laboratory (JPL). Government sponsorship is acknowledged. This research was carried out in part at the JPL, California Institute of Technology, under a contract with NASA. The authors thank Saptarshi Bandyopadhyay and Nick Mastrodemos.
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Record Number:CaltechAUTHORS:20181010-123200583
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:90230
Deposited By: Tony Diaz
Deposited On:10 Oct 2018 20:01
Last Modified:03 Oct 2019 20:23

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