Estimation of inertial properties of a rigid structure maneuvered by satellite modules

Abstract

The LASR Laboratory is investigating the use of free-flying spacecraft modules in several on-orbit, servicing and manufacturing (OSAM) activities. Previous work consists of the system development and testing of the aforementioned thrust-capable modules. This study makes advancements to devise, implement and validate an algorithm for the estimation of inertial parameters of a rigid structure, to be maneuvered with the help of Transforming Proximity Operations and Docking Service (TPODS) satellite modules. The primary contribution of this activity is observability analysis to infer a conducive input sequence for estimating the inertial parameters. For the experimental validation of proposed estimation algorithm, real-time pose measurements are logged through the VICON motion capture system and the recorded data is utilized to assess the performance of the estimation algorithm to predict mass and moment of inertia of an isolated TPODS module.