Guidance, Navigation, and Control for Spacecraft Rendezvous and Docking: Theory and Methods

Preface
Contents
1 Introduction
	1.1 Basic Concepts of Rendezvous and Docking
	1.2 Phases of Rendezvous and Docking
		1.2.1 Before-Launch Phase
		1.2.2 Launch Phase
		1.2.3 Far-Range Rendezvous Phase
		1.2.4 Near-Range Autonomous Control Phase
		1.2.5 Docking Phase
		1.2.6 Complex Operation Phase
		1.2.7 Departure Phase
		1.2.8 Reentry Phase
	1.3 Overview of Rendezvous and Docking
		1.3.1 Introduction
		1.3.2 Classification of Rendezvous and Docking Flight Missions
		1.3.3 Typical Rendezvous and Docking Flight Mission
		1.3.4 Future Development Trend of Rendezvous and Docking Technology
	1.4 Guidance Navigation and Control for RVD
		1.4.1 Sensors
		1.4.2 Actuators
		1.4.3 Controllers
	References
2 Rendezvous Kinematics and Dynamics
	2.1 Reference Frames
	2.2 Orbit Dynamics
		2.2.1 Two-Body Problem
		2.2.2 Orbital Elements
		2.2.3 Orbital Perturbation Equations
		2.2.4 Perturbation Acceleration
	2.3 Attitude Kinematics and Dynamics
		2.3.1 Attitude Kinematics
		2.3.2 Attitude Dynamics
		2.3.3 Spacial Environmental Torques
	2.4 Relative Motion
		2.4.1 Relative Motion in Circular Orbital Frame
		2.4.2 Relative Motion in Elliptical Orbital Frame
		2.4.3 Relative Motion in the Line of Sight Frame
		2.4.4 Relative Motion in Cylindrical Frame
	2.5 Relative Attitude
		2.5.1 Relative Attitude Dynamics for Stable Target
		2.5.2 Relative Attitude Dynamics for Rotating Target
	2.6 Selection of Reference Frames and Dynamics Equation
	References
3 Navigation Method and Scheme Design for Rendezvous and Docking
	3.1 Introduction
		3.1.1 Relative Measurement System
		3.1.2 Relative Navigation Algorithms
	3.2 Sensors
		3.2.1 Inertial Measurement Sensors
		3.2.2 Satellite Navigation Equipments
		3.2.3 Microwave Radar
		3.2.4 Laser Radar
		3.2.5 Camera-Type Rendezvous and Docking Sensor
	3.3 Filtering Method for Navigation
		3.3.1 Theory of Bayesian Estimation
		3.3.2 Linear Minimum Variance Estimation
		3.3.3 Kalman Filter
		3.3.4 Deterministic Sampling Filter
		3.3.5 Particle Filter
	3.4 Scheme Design of Navigation
		3.4.1 Introduction
		3.4.2 Orbital Parameters Estimation
		3.4.3 Relative Position Parameters Estimation
		3.4.4 Relative Attitude Parameter Estimation
		3.4.5 Relative Motion and Attitude United Estimation
	3.5 Key Points of Navigation System Design
	References
4 Guidance Method and Schematic Design for Rendezvous and Docking
	4.1 Introduction
	4.2 Rendezvous by Orbital Maneuver
		4.2.1 Hohmann Rendezvous
		4.2.2 Lambert Rendezvous
		4.2.3 Orbit Elements Based Rendezvous
	4.3 Multiple-impulse Optimal Rendezvous
		4.3.1 Solutions of Optimal Impulsive Rendezvous Between Two Near Circular Orbits
		4.3.2 Solutions of Optimal Impulsive Rendezvous of Ellipse-to-Circle Orbits
		4.3.3 Guidance Law from Multiple-impulse Optimal Rendezvous
	4.4 CW Guidance
		4.4.1 Two-Impulse CW Guidance Law
		4.4.2 Rendezvous Time and Fuel Consumption
		4.4.3 Selection of Rendezvous Time
	4.5 Light of Slight Guidance
		4.5.1 Guidance Law
		4.5.2 Stability Analysis
	4.6 Scheme Design for Far Range Rendezvous Phase
		4.6.1 2–3 Day Guidance Scheme
		4.6.2 Short Rendezvous Guidance Scheme
	4.7 Scheme Design for Homing Phase
		4.7.1 Determination of Initial and Final States, and Rendezvous Time
		4.7.2 Multiple-impulse Optimal Guidance Law
		4.7.3 Analysis of Guidance Accuracy
		4.7.4 Simulations
	4.8 Scheme Design for Closing Phase
		4.8.1 CW Guidance Law
		4.8.2 Light of Sight Guidance Law
		4.8.3 United Guidance LAW
		4.8.4 Simulations
	4.9 Key Points of Guidance System Design
	References
5 Automatic Control Method and Scheme Design for Rendezvous and Docking
	5.1 Introduction
	5.2 Characteristic Modeling for the Plant to be Controlled
		5.2.1 Important Lemma
		5.2.2 Characteristic Model
		5.2.3 Simulation Verification
	5.3 Intelligent Adaptive Control Method Based on Characteristic Model
		5.3.1 Golden Section Adaptive Control
		5.3.2 Logical Differential Control
		5.3.3 Golden Section Phase Plane Control
		5.3.4 Logical Differential Phase Plane Control
	5.4 Control Scheme Design for Rendezvous and Docking
		5.4.1 Attitude Stable Control in Orbit Maneuver
		5.4.2 Accurate Six-Degree-of-Freedom Relative Position and Attitude Control
		5.4.3 Relative Position Control at the Hold Points for Long Period
	5.5 Key Points of Control System Design
	References
6 Manual Control Method and Scheme Design for Rendezvous and Docking
	6.1 Introduction
	6.2 Measurement Principle and Scheme Design
		6.2.1 Sensors for Manual Rendezvous and Docking
		6.2.2 Relative Motion State Determination
		6.2.3 Display of Image and Data
	6.3 Control Method and Scheme Design
		6.3.1 Control Handles
		6.3.2 Control Method of Relative Motion
	6.4 Operation Method
		6.4.1 Approaching Velocity Control
		6.4.2 Lateral Position and Attitude Control
		6.4.3 Simulations
	References
7 Theory and Design of Thruster Configuration and Control Allocation
	7.1 Introduction
		7.1.1 Thruster Configuration for Typical RVD Missions
		7.1.2 Control Allocation
		7.1.3 Thruster Configuration Design
	7.2 Problem Description
		7.2.1 Thruster Configuration Matrix
		7.2.2 Mathematical Model of Thruster Control Allocation
	7.3 Theory and Design of Thruster Control Allocation
		7.3.1 Thruster Control Allocation Method
		7.3.2 Performance Analysis
		7.3.3 Synthetical Design of Thruster Control Allocation Algorithm
	7.4 Theory and Design of Thruster Configuration
		7.4.1 Performance Requirements
		7.4.2 Performance Analysis
		7.4.3 Design Method
	References
8 Method and Scheme Design of Safety for Rendezvous and Docking
	8.1 Introduction
	8.2 Safe Trajectory Design with Rectangular Keep-Out-Zone
		8.2.1 Characteristics of the Free-Flying Trajectories
		8.2.2 Characteristic Points for Safe Trajectory Design
		8.2.3 Safe Trajectory Design for Homing Phase and Closing Phase
		8.2.4 Safe Trajectory Design for Fly-Around Phase
		8.2.5 Simulations
	8.3 Trajectory Safety Judgement with Rectangular Keep-Out-Zone
		8.3.1 Extremune Characteristic Points
		8.3.2 Intersection Characteristic Points
		8.3.3 Judgment Method of Trajectory Safety
		8.3.4 Simulations
	8.4 Design Method of Trajectory Safety
		8.4.1 Passive Trajectory Protection
		8.4.2 Active Trajectory Protection
	8.5 Safe Trajectory Estimation and Collision with Safety Belt for Rendezvous and Docking
		8.5.1 Safety Belts of Trajectory
		8.5.2 Impulse Based Safety Belts and Guidance Law
		8.5.3 Simulations
	8.6 Safety Design for Rendezvous Missions
		8.6.1 System Design
		8.6.2 Flight Scheme Design
	References
9 Simulation Verification of Rendezvous and Docking
	9.1 Introduction
		9.1.1 Classification of Simulation Systems
		9.1.2 Overview of Simulation Technology
	9.2 Mathematical Simulation
		9.2.1 System Composition
		9.2.2 Errors Sources
		9.2.3 Simulation Requirements
		9.2.4 Simulation Conditions
		9.2.5 Simulators
	9.3 Hardware-in-the-Loop Simulation
		9.3.1 9-Degree Hardware-in-the-Loop Simulation System
		9.3.2 Automatic Control Verification Through Hardware-in-the-Loop Simulation System
		9.3.3 Manual Control Verification Through Hardware-in-the-Loop Simulation System
	References
10 RVD Verification in Orbit Flight
	10.1 Introduction
	10.2 Automatic Control System of Shenzhou Spacecraft
		10.2.1 Composition and Flight Phases
		10.2.2 Scheme Design of GNC
		10.2.3 Accuracy Analysis of GNC
		10.2.4 Flight Verification of Shenzhou Spacecraft
		10.2.5 Summary
	10.3 Manual Control System of Shenzhou Spacecraft
		10.3.1 Manual Control System Composition
		10.3.2 Determination of Relative Movement States
		10.3.3 Control Strategy
		10.3.4 Operation Strategy
		10.3.5 Flight Verification of Shenzhou Spacecraft
		10.3.6 Summary
	10.4 Prospects
	References