Mini AERCam: development of a free-flying nanosatellite inspection robot
Mini AERCam: development of a free-flying nanosatellite inspection robot
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Mini AERCam：自由飞行纳米卫星检查机器人的开发
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
Nichole M. Williams
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文献类型：
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作者：
S. Fredrickson;Larry W. Abbott;S. Duran;J. David Jochim;J. Studak;J. Wagenknecht;Nichole M. Williams
美国宇航局约翰逊航天中心工程局开发了一种纳米卫星级自由飞行器，旨在用于未来对人类航天活动（包括国际空间站（ISS）运行）的外部检查和远程观察。微型自主舱外机器人相机（Mini AERCam）技术演示单元已集成到飞行系统的大致形式和功能中。球形 Mini AERCam 自由飞行器直径 7.5 英寸，重约 10 磅，但与 1997 年航天飞机飞行实验中飞行的 35 磅、14 英寸 AERCam Sprint 相比，它具有显着的附加功能。Mini AERCam 拥有全套小型航空电子设备、仪器、通信、导航、成像、电力和推进子系统，包括两台数码摄像机和一台高分辨率静态图像相机。该车辆设计用于远程驾驶操作或监督自主操作，包括自动定位和点对点机动。自由飞行测试是在空气轴承台和六自由度闭环轨道模拟中进行的。轨道模拟模拟了国际空间站附近自由飞行器的三维动力学，并产生相应的上帝之眼视图和模拟自由飞行器相机视图。通过直接连接自由飞行器推进器驱动器信号、在硬件中模拟 MEMS 陀螺仪响应以及使用“真实”状态驱动连接到自由飞行器 GPS 接收器的 GPS 信号发生器来实现高保真模拟。
The Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spaceflight activities, including International Space Station (ISS) operations. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including two digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-to-point maneuvering. Free-flyer testing has been conducted on an air-bearing table and in a six degree-of-freedom closed-loop orbital simulation. The orbital simulation models the three-dimensional dynamics of the free-flyer in proximity to the ISS, and produces corresponding God's eye views and simulated free-flyer camera views. A high-fidelity simulation is achieved by directly interfacing to free-flyer thruster driver signals, emulating the MEMS gyro responses in hardware, and using the "truth" state to drive a GPS signal generator connected to the free-flyer GPS receiver.