Orbital Express Advanced Video Guidance Sensor

In May 2007 the first US-sponsored fully autonomous rendezvous and capture was successfully performed by DARPA's Orbital Express (OE) mission. For the following three months, the Boeing ASTRO spacecraft and the Ball Aerospace NEXTSat performed multiple rendezvous and docking maneuvers to demonstrate some of the technologies needed for satellite servicing. MSFC's advanced video guidance sensor (AVGS) was a near-field proximity operations sensor integrated into ASTRO's Autonomous Rendezvous and Capture Sensor System (ARCSS), which provided relative state knowledge to the ASTRO GN&C system. AVGS was one of the primary docking sensors included in ARCSS. This paper provides an overview of the AVGS sensor that flew on orbital express, a summary of the AVGS ground testing, and a discussion of AVGS performance on-orbit for OE. The AVGS is a laser-based system that is capable of providing bearing at midrange distances and full six degree- of-freedom (6-DOF) knowledge at near ranges. The sensor fires lasers of two different wavelengths to illuminate retro- reflectors on the long range target (LRT) and the Short Range Target (SRT) mounted on NEXTSat. The retro- reflector filters allow one laser wavelength to pass through and be reflected, while blocking the other wavelength. Subtraction of one return image from the other image removes extraneous light sources and reflections from anything other than the corner cubes on the LRT and SRT. The very bright spots that remain in the subtracted image are processed to provide bearing or 6-DOF relative state information. AVGS was operational during the Orbital Express unmated scenarios and the sensor checkout operations. The OE unmated scenarios ranged from 10 meters to 7 kilometers ending in either a docking or a free-flyer capture. When the target was pointed toward the AVGS and in the AVGS operating range and field-of-view (i.e. along the approach corridor of the NEXTSat), the AVGS provided full 6-DOF measurements. The AVGS performed very well during the sensor check-out operations, effectively tracking beyond its 10-degree Pitch and Yaw limit-specifications. AVGS also provided excellent performance during the unmated operations, effectively tracking its targets, and showing good agreement between the SRT and LRT data. The AVGS consistently exceeded the tracking range expectations for both the SRT and LRT. During the approach to re-mate in scenario 3-1 recovery the AVGS began tracking the LRT at 150 m, well beyond the OE specified operational range of 120 meters, and functioned as the primary sensor for the autonomous rendezvous and docking. For all scenarios, the AVGS was used while ASTRO was in the approach corridor to NEXTSat, and during close proximity operations and docking.