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Simultaneous estimation of spacecraft position and asteroid diameter during final approach of Hayabusa2 to Ryugu

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Astrodynamics 2020年第2期4卷 163-175页

作者： Yuki Takao Yuya Mimasu yuichi tsuda Institute of Space and Astronautical Science Japan Aerospace Exploration AgencySagamihara252-5210Japan

This paper presents the optical navigation results of the asteroid explorer Hayabusa2 during the final rendezvous approach phase with the asteroid Ryugu.The orbit determination of Hayabusa2 during the cruising phase uses a triangulation-based method that estimates the probe and asteroid orbits using the directions from which they are observed.Conversely,the asteroid size is available as optical information just prior to arrival.The size information allows us to estimate the relative distance between the probe and the asteroid with high accuracy,that is strongly related to the success or failure of the rendezvous.In this study,the relative distance and asteroid size in real space are simultaneously estimated in real time by focusing on the rate of change of the asteroid size observed in sequential images.The real-time estimation results coincided with those of precise analyses performed after arrival.

关键词： asteroids small bodies optical navigation size estimation orbit determination real time

Visual localization for asteroid touchdown operation based on local image features

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Astrodynamics 2020年第2期4卷 149-161页

作者： Yoshiyuki Anzai Takehisa Yairi Naoya Takeishi yuichi tsuda Naoko Ogawa The University of Tokyo Tokyo113-8654Japan RIKEN Center for Advanced Intelligence Project Tokyo103-0027Japan Japan Aerospace Exploration Agency Sagamihara252-5210Japan

In an asteroid sample-return mission,accurate position estimation of the spacecraft relative to the asteroid is essential for landing at the target point.During the missions of Hayabusa and Hayabusa2,the main part of the visual position estimation procedure was performed by human operators on the Earth based on a sequence of asteroid images acquired and sent by the spacecraft.Although this approach is still adopted in critical space missions,there is an increasing demand for automated visual position estimation,so that the time and cost of human intervention may be reduced.In this paper,we propose a method for estimating the relative position of the spacecraft and asteroid during the descent phase for touchdown from an image sequence using state-of-the-art techniques of image processing,feature extraction,and structure from motion.We apply this method to real Ryugu images that were taken by Hayabusa2 from altitudes of 20 km-500 m.It is demonstrated that the method has practical relevance for altitudes within the range of 5-1 km.This result indicates that our method could improve the efficiency of the ground operation in the global mapping and navigation during the touchdown sequence,whereas full automation and autonomous on-board estimation are beyond the scope of this study.Furthermore,we discuss the challenges of developing a completely automatic position estimation framework.

关键词： visual navigation structure from motion asteroid touchdown Hayabusa2

Ground-based low altitude hovering technique of Hayabusa2

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Astrodynamics 2020年第4期4卷 331-347页

作者： Yuya Mimasu Kent Yoshikawa Go Ono Naoko Ogawa Fuyuto Terui Yuto Takei Takanao Saiki yuichi tsuda Institute of Space and Astronautical Science Japan Aerospace Exploration AgencySagamihara 252-5210Japan

The asteroid explorer Hayabusa2 carries multiple rovers and separates them to land on an asteroid surface.One of these rovers,called MASCOT,was developed under the international cooperation between the Deutsches Zentrum f¨ur Luft-und Raumfahrt and the Centre National d’Etudes Spatiales.This rover was designed to be separated to land and perform several missions on an asteroid surface.To support these missions,the mother ship Hayabusa2 must separate this rover at a low altitude of approximately 50 m and hover at approximately 3 km after separation to achieve are liable communication link with MASCOT.Because the on-board guidance,navigation,and control(GNC)does not have an autonomous hovering function,this hovering operation is performed by ground-based control.This paper introduces the GNC operation scheme for this hovering operation and reports on its flight results.

关键词： Hayabusa2 MASCOT low altitude hovering guidance,navigation,and control(GNC)

Design and flight results of GNC systems in Hayabusa2 descent operations

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Astrodynamics 2020年第2期4卷 105-117页

作者： Go Ono Fuyuto Terui Naoko Ogawa Yuya Mimasu Kent Yoshikawa Yuto Takei Takanao Saiki yuichi tsuda Japan Aerospace Exploration Agency Sagamihara252-5210Japan

Hayabusa2 is a Japanese sample return mission from the near-Earth asteroid Ryugu.The Hayabusa2 spacecraft was launched on December 3,2014,and reached the asteroid on June 27,2018.It remained there until November 13,2019 for in situ observation and soil sample collection and will return to the Earth in November or December 2020.During its stay at the asteroid,Hayabusa2 performed descent operations 16 times.This paper presents an overview of a guidance,navigation,and control method used in such descent operations.The method consists of on-board and on-ground guidance systems to control the spacecraft and an image-based navigation technique that uses a shape model and ground control points of the asteroid.Flight results in the first touchdown operation are shown as an example,which demonstrate that the method showed a good performance overall and contributed to the success of the mission.

关键词： small body exploration astrodynamics guidance navigation control

Guidance, navigation, and control of Hayabusa2 touchdown operations

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Astrodynamics 2020年第4期4卷 393-409页

作者： Fuyuto Terui Naoko Ogawa Go Ono Seiji Yasuda Tetsuya Masuda Kota Matsushima Takanao Saiki yuichi tsuda Institute of Space and A stronautical Science Japan A erospace Exploration AgencyKanagawa 252-5210Japan The 3nd Space Technology Department Space System DirisionNEC CorporationTokyo 183-8501Japan

Hayabusa2 is a Japanese sample return mission from the asteroid Ryugu.The Hayabusa2 spacecraft was launched on 3 December 2014 and arrived at Ryugu on 27 June 2018.It stayed there until December 2019 for in situ observation and soil sample collection,and will return to the Earth in November or December 2020.During the stay,the spacecraft performed the first touchdown operation on 22 February 2019 and the second touchdown on 11 July 2019,which were both completed sucssfully.Because the surface of Ryugu is rough and covered with boulders,it was not easy to find target areas for touchdown.There were several technical challenges to overcome,including demanding guidance,navigation,and control accuracy,to realize the touchdown operation.In this paper,strategies and technical details of the guidance,navigation,and control systems are presented.The flight results prove that the performance of the systems was satisfactory and largely contributed to the success of the operation.

关键词： small body exploration touchdown astrodynamics guidance navigation control

Rendezvous to asteroid with highly uncertain ephemeris: Hayabusa2’s Ryugu-approach operation result

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Astrodynamics 2020年第2期4卷 137-147页

作者： yuichi tsuda Hiroshi Takeuchi Naoko Ogawa Go Ono Shota Kikuchi Yusuke Oki Masateru Ishiguro Daisuke Kuroda Seitaro Urakawa Shin-ichiro Okumura Hayabusa2 Project Team Institute of Space and Astronautical Science Japan Aerospace Exploration AgencySagamihara252-5210Japan Research and Development Directorate Japan Aerospace Exploration AgencySagamihara252-5210Japan Research and Development Directorate Japan Aerospace Exploration AgencyTsukuba305-8505Japan Seoul National University Seoul08826Republic of Korea Okayama Observatory Kyoto UniversityAsakuchi719-0232Japan Japan Spaceguard Association Bisei714-1411Japan 不详

This paper describes the guidance and navigation technique used by Hayabusa2 for the asteroid rendezvous operation to reach Ryugu.The operation results,including the achieved guidance and navigation performance,are also summarized.Multiple assessment and navigation teams worked closely to provide reliable navigation solutions with a short solution delivery cycle.Although the uncertainty of the Ryugu’s ephemeris was considerable before Hayabusa2’s arrival,a combination of radiometric-optical hybrid navigation and a stochastic-constrained optimum guidance method was able to achieve an accuracy of less than 100 m and 1 cm/s,and the arrival was precisely timed.

关键词： solar system exploration sample return optical navigation trajectory optimization spacecraft guidance

Modeling and analysis of Hayabusa2 touchdown

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Astrodynamics 2020年第2期4卷 119-135页

作者： Kent Yoshikawa Hirotaka Sawada Shota Kikuchi Naoko Ogawa Yuya Mimasu Go Ono Yuto Takei Fuyuto Terui Takanao Saiki Seiji Yasuda Kota Matsushima Tetsuya Masuda yuichi tsuda Japan Aerospace Exploration Agency Sagamihara252-5210Japan NEC Corporation Fuchu183-8501Japan

The Hayabusa2 asteroid explorer mission focuses principally on the touchdown and sampling on near-Earth asteroid 162173 Ryugu.Hayabusa2 successfully landed on its surface and ejected a projectile for sample collection on February 22,2019.Hayabusa2 later landed near a crater formed by an impactor and executed the sampling sequence again on July 11,2019.For a successful mission,a thorough understanding and evaluation of spacecraft dynamics during touchdown were crucial.The most challenging aspect of this study was the modeling of such spacecraft phenomena as the dynamics of landing on a surface with unknown properties.In particular,a Monte Carlo analysis was used to determine the parameters of the operational design for the final descent and touchdown sequence.This paper discusses the dynamical modeling of the simulation during the touchdown of Hayabusa2.

关键词： contact dynamics resistive force theory(RFT) astrodynamics Hayabusa2 planetary exploration

Message from the Guest Editors of the Special Issue on Astrodynamics and Engineering Aspects of Hayabusa2-Sample Return Mission to the Asteroid Ryugu

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Astrodynamics 2020年第2期4卷 87-87页

作者： yuichi tsuda Xiangyuan Zeng Christian Circi Giovanni Vulpetti Japan Aerospace Exploration Agency(JAXA) SagamiharaJapan Beijing Institute of Technology BeijingChina Sapienza University of Rome RomeItaly International Academy of Astronautics ParisFrance

Dear authors and readers,Since the beginning of the space age,the return of samples from the other celestial bodies has been deemed one of the ultimate forms of unmanned robotic missions.Realizing a sample return mission requires profound knowledge of many wide and different areas of engineering and science.In a special way,astrodynamics plays a crucial role throughout the mission,ranging from accurate guidance and navigation to distant bodies,to precise modeling of dynamical environment of target bodies,precision landing to an aimed point,various surface and proximity activities around the bodies,and orbit design for the round-trip journey.

关键词： return dynamics precise

Image-based autonomous navigation of Hayabusa2 using artificial landmarks: The design and brief in-flight results of the first landing on asteroid Ryugu

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Astrodynamics 2020年第2期4卷 89-103页

作者： Naoko Ogawa Fuyuto Terui Yuya Mimasu Kent Yoshikawa Go Ono Seiji Yasuda Kota Matsushima Tetsuya Masuda Hiroki Hihara Junpei Sano Takashi Matsuhisa Satoshi Danno Manabu Yamada Yasuhiro Yokota Yuto Takei Takanao Saiki yuichi tsuda Japan Aerospace Exploration Agency Sagamihara252-5210Japan NEC Corporation Fuchu183-8501Japan NEC Space Technologies Ltd.Fuchu183-8551Japan Systems Engineering Consultants Co. Ltd.Tokyo158-0097Japan Planetary Exploration Research Center Chiba Institute of TechnologyNarashino275-0016Japan

Hayabusa2 is an asteroid sample return mission carried out by the Japan Aerospace Exploration Agency.The spacecraft was launched in 2014 and arrived at the target asteroid Ryugu on June 27,2018.During the 1.5-year proximity phase,several critical operations(including two landing/sampling operations)were successfully performed.They were based on autonomous image-based descent and landing techniques.This paper describes an imagebased autonomous navigation scheme of the Hayabusa2 mission using artificial landmarks named target markers(TMs).Its basic algorithm,and the in-flight results of the first touchdown and its rehearsal,are shown.

关键词： Hayabusa2 Ryugu image-based navigation target marker tracking