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A Software Architecture for Autonomous Orbital Robotics

机译：自主轨道机器人的软件架构

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SUMO, the Spacecraft for the Universal Modification of Orbits, is a DARPA-sponsored spacecraft designed to provide orbital repositioning services to geosynchronous satellites. Such services may be needed to facilitate changing the geostationary slot of a satellite, to allow a satellite to be used until the propellant is expended instead of reserving propellant for a retirement burn, or to rescue a satellite stranded in geosynchronous transfer orbit due to a launch failure. Notably, SUMO is being designed to be compatible with the current geosynchronous satellite catalog, which implies that it does not require the customer spacecraft to have special docking fixtures, optical guides, or cooperative communications or pose sensors. In addition, the final approach and grapple will be performed autonomously. SUMO is being designed and built by the Naval Center for Space Technology, a division of the U.S. Naval Research Laboratory in Washington, DC. The nature of the SUMO concept mission leads to significant challenges in onboard spacecraft autonomy. Also, because research and development in machine vision, trajectory planning, and automation algorithms for SUMO is being pursued in parallel with flight software development, there are considerable challenges in prototyping and testing algorithms in situ and in transitioning these algorithms from laboratory form into software suitable for flight. This paper discusses these challenges, outlining the current SUMO design from the standpoint of flight algorithms and software. In particular, the design of the SUMO phase 1 laboratory demonstration software is described in detail. The proposed flight-like software architecture is also described.
机译：SUMO是用于全球修改轨道的航天器，是DARPA资助的航天器，旨在为地球同步卫星提供轨道重定位服务。可能需要此类服务，以方便更改卫星的地球静止时隙，允许在直到推进剂耗尽之前使用卫星，而不是将推进剂保留用于退役烧伤，或者营救因发射而滞留在地球同步转移轨道中的卫星失败。值得注意的是，SUMO被设计为与当前的地球同步卫星目录兼容，这意味着它不需要客户的航天器具有特殊的对接装置，光导，协作通信或姿态传感器。此外，最终方法和解决方法将自动执行。 SUMO由海军空间技术海军中心设计和建造，该中心是华盛顿特区美国海军研究实验室的一个部门。 SUMO概念飞行的性质导致了航天器自主飞行方面的重大挑战。此外，由于正在与飞行软件开发同时进行SUMO的机器视觉，轨迹规划和自动化算法的研究与开发，因此就地原型和测试算法以及将这些算法从实验室形式转换为适合的软件都面临着巨大的挑战。飞行。本文讨论了这些挑战，从飞行算法和软件的角度概述了当前的SUMO设计。特别是，详细描述了SUMO 1期实验室演示软件的设计。还介绍了拟议的类似飞行的软件体系结构。

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