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Investigation of Close-Proximity Operations of an Autonomous Robotic On-Orbit Servicer Using Linearized Orbit Mechanics

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Investigation of Close-Proximity Operations of an Autonomous Robotic On-Orbit Servicer Using Linearized Orbit Mechanics INVESTIGATION OF CLOSE-PROXIMITY OPERATIONS OF AN AUTONOMOUS ROBOTIC ON-ORBIT SERVICER USING LINEARIZED ORBIT MECHANICS By SVETLANA ANATOLYEVNA GLADUN A THESIS PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE UNIVERSITY OF FLORIDA 2005 Copyright 2005 by Svetlana A. Gladun This document is dedicated to my grandmother, my mother, and my father. ACKNOWLEDGMENTS I would like to express my gratitude to my advisor, Dr. Norman Fitz-Coy, for his support, dedication, patience, and encouragement throughout my undergraduate and graduate studies. I would like to acknowledge my committee members, Dr. Gloria Wiens and Dr. Rick Lind, for reviewing the thesis and providing valuable comments that improved the quality of this work. I would like to acknowledge Mike Loucks from Space Exploration Engineering for his dedication to and his tirelessness and patience in helping me with STK. I would like to acknowledge Guy Savage from Orbital Science Corporation for his assistance in acquiring information regarding the DART mission. I would like to acknowledge my colleagues and friends from Space Systems Group, Chun-Haur (Marvin) Chao and Andy Tatsch, for their advice, help and support, and numerous intellectual and not so conversations. I would also like to acknowledge Fred Leve for dedicating his time to making an ADAMS model of DART to include in my thesis. Last, but not least, I would like to thank my family because without them none of this would be possible. I would like to thank my grandmother Antonina Petrovna for playing an important role in my upbringing and for always showing me unconditional love and encouragement in my journey through life. I would like to thank my mother Svetlana Victorovna for her unconditional love, courage, and sacrifice in coming to this iv country so her children are able to have a better life and follow their dreams. I would like to thank my father Anatoly Mihaylovich for his unconditional love and support. I would like to thank my brother Dmitry for believing in me and supporting the decisions I make throughout life. I would like to thank my best friend Cori for showing me unconditional love and support and bringing happiness into my life. I would like to thank little Dusya for bringing love and joy into my life. v TABLE OF CONTENTS Page ACKNOWLEDGMENTS ................................................................................................. iv LIST OF TABLES........................................................................................................... viii LIST OF FIGURES ........................................................................................................... ix ABSTRACT..................................................................................................................... xiii CHAPTER 1 INTRODUCTION AND BACKGROUND .................................................................1 2 SPACE ROBOTIC SERVICERS: PAST, PRESENT, AND FUTURE ....................10 2.1 State-of-the-Art.....................................................................................................10 2.2 Scope of the Thesis...............................................................................................25 3 LINEARIZED ORBIT MECHANICS AND PROXIMITY OPERATIONS ............27 3.1 Two-body Problem ...............................................................................................27 3.2 Relative Motion ....................................................................................................29 3.2.1 Clohessy-Wiltshire Equations for Nearly Circular Orbits......................30 3.2.2 Position and Velocity Solutions for Nearly Circular Orbits ...................35 3.3 Close-Proximity Operations.............................................................................38 3.3.1 Linear Two-impulse Rendezvous...............................................................38 3.3.2 Different Approaches of the Target Satellite..............................................40 3.4 Perturbations ....................................................................................................42 3.4.1 General Effect of Perturbations..................................................................43 3.4.2 Atmospheric Drag Effects ..........................................................................44 3.4.3 Oblateness of the Earth Effects ..................................................................45 3.4.4 Third-Body Effects.....................................................................................48 3.4.5 Solar Radiation Effects...............................................................................49 3.4.6 Thrust..........................................................................................................50 4 DEMONSTRATION OF AUTONOMOUS RENDEZVOUS TECHNOLOGY (DART) MISSION OVERVIEW...............................................................................51 4.1 DART Spacecraft..................................................................................................51 4.2 MUBLCOM Spacecraft........................................................................................54 vi 4.3 Mission .................................................................................................................56 4.3.1 Launch and Rendezvous Phase ..................................................................56 4.3.2 Close-Proximity Operations Phase.............................................................57 5 SIMULATIONS USING SATELLITE TOOL KIT (STK) SOFTWARE BY ANALYTICAL GRAPHICS, INC. (AGI) .................................................................60 5.1 Satellite Tool Kit (STK) .......................................................................................60 5.1.1 STK/Advanced Visualization Option Module ...........................................60 5.1.2 STK/Astrogator Module.............................................................................61 5.2 Simulation Scenarios ............................................................................................63 5.2.1 Scenario 1 ...................................................................................................65 5.2.1.1 V-Bar maneuvers..............................................................................69 5.2.1.2 R-Bar maneuvers..............................................................................80 5.2.1.3 Fuel usage.........................................................................................86 5.2.2 Scenario 2 ...................................................................................................88 5.2.2.1 V-Bar maneuvers..............................................................................92 5.2.2.2 Fuel usage......................................................................................98 5.2.3 Scenario 3 ...................................................................................................99 5.2.3.1 Targeted thrust efficiency...............................................................100 5.2.3.2 Fixed thrust efficiency – targeted maneuver duration....................103 5.2.3.3 Fixed thrust efficiency – targeted radial position...........................108 5.3 Discussion of the Simulations Results................................................................112 5.3.1 Relative Position.......................................................................................112 5.3.2 Fuel Usage................................................................................................115 6 CONCLUSION AND RECOMMENDATIONS.....................................................117 6.1 Conclusions.........................................................................................................117 6.2 Recommendations...............................................................................................120 APPENDIX A CLASSICAL ORBITAL ELEMENTS ....................................................................121 B CLOHESSY-WILTSHIRE EQUATIONS OF MOTION ALGORITHM...............123 LIST OF REFERENCES.................................................................................................125 BIOGRAPHICAL SKETCH ...........................................................................................133 vii LIST OF TABLES Table page 4-1. DART Vehicle Propulsion Systems Characteristics. ................................................53 4-2. Location of the 16 Cold-Gas Nitrogen Thrusters. .....................................................53 4-3. Close-Proximity Operations Timeline.......................................................................58 5-1. Initial Impulse Values for V-Bar Maneuvers from –3km to –5m. ............................70 5-2. Final Impulse Values for V-Bar Maneuvers from –3km to –5m. .............................71 5-3. Relative Position........................................................................................................79 K 5-4. ΔV Initial Values for R-Bar Maneuvers from 150m to 300m...................................81 K 5-5. ΔV Final Values for R-Bar Maneuvers from 150m to 300m....................................81 5-6. Relative Position........................................................................................................83 5-7. Close-Proximity Operations Timeline.......................................................................91 K 5-8. ΔV Initial Values
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