小型衛星μ-LabSatによる月トラッキング姿勢制御実験

概要

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"μ-LabSat", a micro-piggyback satellite, was launched by an H-IIA rocket on December 14, 2002. One of its missions was to release truncated cone-shaped targets with representative dimensions of approximately 10cm and evaluate the use of machine vision to estimate their position and attitude relative to the satellite.As a follow-on mission using the same camera, an attitude control moon-tracking maneuver was planned comprising the following steps: (1) recognize the moon in captured images and track it continuously, (2)calculate the median point of the moon, (3) control the satellite's attitude to move the moon's position in the image to be near the image center, (4) maintain the moon's position near the center of the image. μ-LabSat is a bias-momentum micro satellite with two wheels, a configuration that is not normally capable of agile attitude maneuvers. This paper describes an algorithm "Sliding Mode Controller using the Rodriguez parameter" that has been developed to enable such maneuvers, and presents the results of its evaluation by numerical simulation and an on-orbit moon tracking experiment.
宇宙航空研究開発機構の論文