Laboratory experimentation of autonomous spacecraft docking using cooperative vision navigation
Friedman, David A.
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wo dimensions. Pseudo-GPS was integrated into the testbed to allow for independent verification and validation of a vehicle's performance. The docking simulator was developed by integrating computer hardware and attitude sensors into a newly-designed vehicle architecture to support its navigation and control needs. A position and attitude estimator was created to fuse the vehicle's sensor inputs. A control system was designed to allow for position control through eight thrusters and attitude control through the use of a reaction wheel. Finally, experiments of proximity navigation were conducted. One experiment established the versatility of the vehicle's control system by performing a closed loop maneuver. A second experiment successfully demonstrated a complete docking scenario.
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