Fault tolerant control for near space vehicle:a survey and some new results

A review on fault-tolerant control（FTC） for near space vehicle（NSV） is presented.First,the concept of near space is introduced,the background of NSV is emphasized,and the model characteristics of NSV in faulty case are investigated.Then,a comparison of different existing approaches is briefly carried out,and achievements on the current research in this field are also presented in the view of the practical application.Furthermore,several existing advanced FTC results for nonlinear flight control systems are given.Finally,the recent literature of NSV are presented to provide an overall view of future developments in this area.

Adaptive sliding mode backstepping control for near space vehicles considering engine faults

A fault tolerant control methodology based adaptive sliding mode(ASM) backstepping is proposed for near space vehicle(NSV) attitude control system under engine faults. The proposed scheme combined adaptive backstepping with the sliding mode control strategy could guarantee the system’s stability and track desired signals under external disturbances and engine faults. Firstly, attitude mode description and the engine faulty model are given. Secondly, a nominal control law is designed.Thirdly, a sliding mode observer is given later in order to estimate both the information of engine faults and external disturbances. An adaptive sliding mode technology based on the previous nominal control law is developed via updating faulty parameters. Finally,analyze the system’s fault-tolerant performance and reliability through experiment simulation, which verifies the proposed design of fault-tolerant control can tolerate engine faults, as well as the strong robustness for external disturbance.

LSTM-based lane change prediction using Waymo open motion dataset: The role of vehicle operating space

Lane change prediction is critical for crash avoidance but challenging as it requires the understanding of the instantaneous driving environment.With cutting-edge artificial intelligence and sensing technologies,autonomous vehicles(AVs)are expected to have exceptional perception systems to capture instantaneously their driving environments for predicting lane changes.By exploring the Waymo open motion dataset,this study proposes a framework to explore autonomous driving data and investigate lane change behaviors.In the framework,this study develops a Long Short-Term Memory(LSTM)model to predict lane changing behaviors.The concept of Vehicle Operating Space(VOS)is introduced to quantify a vehicle's instantaneous driving environment as an important indicator used to predict vehicle lane changes.To examine the robustness of the model,a series of sensitivity analysis are conducted by varying the feature selection,prediction horizon,and training data balancing ratios.The test results show that including VOS into modeling can speed up the loss decay in the training process and lead to higher accuracy and recall for predicting lane-change behaviors.This study offers an example along with a methodological framework for transportation researchers to use emerging autonomous driving data to investigate driving behaviors and traffic environments.

Attitude tracking control for variable structure near space vehicles based on switched nonlinear systems

An adaptive robust attitude tracking control law based on switched nonlinear systems is presented for a variable structure near space vehicle （VSNSV） in the presence of uncertainties and disturbances. The adaptive fuzzy systems are employed for approximating unknown functions in the flight dynamic model and their parameters are updated online. To improve the flight robust performance, robust controllers with adaptive gains are designed to compensate for the approximation errors and thus they have less design conservation. Moreover, a systematic procedure is developed for the synthesis of adaptive fuzzy dynamic surface control （DSC） approach. According to the common Lyapunov function theory, it is proved that all signals of the closed-loop system are uniformly ultimately bounded by the continuous controller. The simulation results demonstrate the effectiveness and robustness of the proposed control scheme.

DSC-backstepping based robust adaptive LS-SVM control for near space vehicle’s reentry attitude

Purpose–The purpose of this paper is to propose a robust control scheme for near space vehicle’s(NSV’s)reentry attitude tracking problem under aerodynamic parameter variations and external disturbances.Design/methodology/approach-The robust control scheme is composed of dynamic surface control(DSC)and least squares support vector machines(LS-SVM).DSC is used to design a nonlinear controller for HSV;then,to increase the robustness and improve the control performance of the controller.LS-SVM is presented to estimate the lumped uncertainties,including aerodynamic parameter variations and external disturbances.The stability analysis shows that all closed-loop signals are bounded,with output tracking error and estimate error of LS-SVM weights exponentially converging to small compacts.Findings-Simulation results demonstrate that the proposed method is effective,leading to promising performance.Originality/value-First,a robust control scheme composed of DSC and adaptive LS-SVM is proposed for NSV’s reentry attitude tracking problem under aerodynamic parameter variations and external disturbances;second,the proposed method can achieve more favorable tracking performances than conventional dynamic surface control because of employing LS-SVM to estimate aerodynamic parameter variations and external disturbances.

Design and Cryogenic Performance of a Hexapod Platform for a Large Ground-based Wide Field Survey Telescope

The thermal gradient is an important factor that causes degradation to the image quality of telescopes. In order to ensure the accurate alignment of the primary focus unit and the primary mirror, the hexapod platform(as a corrector) is investigated in this paper. First, a ground-based telescope with 2.5 m aperture and 3.5 deg field of view is described. The telescope is under construction, and it is expected to be finished in 2023. Second, the hexapod platform with flexure hinges utilized to adjust the primary focus unit is proposed, which is applied as a corrector.Then, the inverse kinematics of the platform is established and an open-loop control system is built based on it.Finally, the cryogenic performance test for the hexapod platform is performed. The experimental results show that the resolution and repeatability of the translation for the hexapod platform can be achieved at the micrometer level.The resolution and repeatability of the rotation can be achieved at the arc-second level. Therefore, the cryogenic performance of the hexapod platform can meet the optical imaging requirements of the wide-field ground-based telescope. The kinematic analysis and cryogenic performance tests in the paper provide a technical reference for the precise alignment of the primary focus unit and the primary mirror, which can improve the imaging quality of the telescope.

Long-term Integration Ability of the Submillimeter Wave Astronomy Satellite(SWAS)Spectral Line Receivers

The Submillimeter Wave Astronomy Satellite(SWAS)was the first space telescope capable of high spectral resolution observations of terahertz spectral lines.We have investigated the integration ability of its two receivers and spectrometer during five and a half years of on-orbit operation.The CI,O_(2),H_(2)O,and^(13)CO spectra taken toward all observed Galactic sources were analyzed.The present results are based on spectra with a total integration time of up to 2.72×10~4hr(■10~8s).The noise in the spectra is generally consistent with that expected from the radiometer equation,without any sign of approaching a noise floor.This noise performance reflects the extremely stable performance of the passively cooled front end as well as other relevant components in the SWAS instrument throughout its mission lifetime.

Experiment on diffuse reflection laser ranging to space debris and data analysis

Space debris poses a serious threat to human space activities and needs to be measured and cataloged. As a new technology for space target surveillance, the measurement accuracy of diffuse reflection laser ranging （DRLR） is much higher than that of microwave radar and optoelectronic measurement. Based on the laser ranging data of space debris from the DRLR system at Shanghai Astronomical Observatory acquired in March-April, 2013, the characteristics and precision of the laser ranging data are analyzed and their applications in orbit determination of space debris are discussed, which is implemented for the first time in China. The experiment indicates that the precision of laser ranging data can reach 39 cm-228 cm. When the data are sufficient enough （four arcs measured over three days）, the orbital accuracy of space debris can be up to 50 m.

A new source extraction algorithm for optical space debris observation

Specific challenges arise in the task of real-time automatic data reduction of optical space debris observations. Here we present an automatic technique that optimally detects and measures the sources from images of optical space debris ob- servations. We show that highly reliable and accurate results can be obtained on most images produced by our specific sensors, and due to optimizations, the whole pipeline works fast and efficiently. Tests demonstrate that the technique performs better than SExtractor from the point of view of fast and accurate detection, therefore it is well suited for data reduction of optical space debris observations.

The transformation between τ and TCB for deep space missions under IAU resolutions

For tracking spacecraft and performing radio science, the transformation between the proper time （τ） given by a clock carried onboard a spacecraft and the barycentric coordinate time （TCB） is investigated under IAU resolutions. In order to more clearly demonstrate manifestations of a physical model and improve computa- tional efficiency, an analytic approach is adopted. After numerical verification, it is confirmed that this method is adequate to describe a Mars orbiter during one year, and is particularly good at describing the influence from perturbing bodies. Further analyses demonstrate that there are two main effects in the transformation： the gravi- tational field of the Sun and the velocity of the spacecraft in the barycentric coordinate reference system. The combined contribution of these effects is at the level of a few sub-seconds.

Attitude dynamics and control of spacecraft using geomagnetic Lorentz force

Attitude stabilization of a charged rigid spacecraft in Low Earth Orbit using torques due to Lorentz force in pitch and roll directions is considered. A spacecraft that generates an electrostatic charge on its surface in the Earth’s magnetic field will be subject to perturbations from the Lorentz force. The Lorentz force acting on an electrostatically charged spacecraft may provide a useful thrust for controlling a spacecraft’s orientation. We assume that the spacecraft is moving in the Earth’s magnetic field in an elliptical orbit under the effects of gravitational, geomagnetic and Lorentz torques. The magnetic field of the Earth is modeled as a non-tilted dipole.A model incorporating all Lorentz torques as a function of orbital elements has been developed on the basis of electric and magnetic fields. The stability of the spacecraft orientation is investigated both analytically and numerically. The existence and stability of equilibrium positions is investigated for different values of the charge to mass ratio（α＊）. Stable orbits are identified for various values of α＊. The main parameters for stabilization of the spacecraft are α＊and the difference between the components of the moment of inertia for the spacecraft.

Improved astrometry of space debris with image restoration

In order to implement an observing strategy, image degradation that occurs during optical observation of space debris is ineluctable and has distinct characteris- tics. Image restoration is presented as a way to remove the influence of degradation in CCD images of space debris, based on assumed PSF models with the same F-WHM as images of the object. In the process of image restoration, the maximum entropy method is adopted. The results of reduction using observed raw CCD images indi- cate that the precision in estimating positions of objects is improved and the effects of degradation are reduced. Improving the astrometry of space debris using image restoration is effective and feasible.

An improved astrometric calibration technique for space debris observation

An optical survey is the main technique for detecting space debris. Due to the specific character- istics of observation, the pointing errors and tracking errors of the telescope as well as image degradation may be significant, which make it difficult for astrometric calibration. Here we present an improved method that corrects the pointing and tracking errors, and measures the image position precisely. The pipeline is tested on a number of CCD images obtained from a 1-m telescope administered by Xinjiang Astronomical Observatory while observing a GPS satellite. The results show that the position measurement error of the background stars is around 0.1 pixel, while the time cost for a single frame is about 7.5 s; hence the relia- bility and accuracy of our method are demonstrated. In addition, our method shows a versatile and feasible way to perform space debris observation utilizing non-dedicated telescopes, which means more sensors could be involved and the ability to perform surveys could be improved.

Spacecraft Doppler tracking with possible violations of LLI and LPI: preliminary bounds on LLI from Mars Express

Three-way spacecraft Doppler tracking is currently widely used and it plays an important role in the control and navigation of deep space missions. Using the theory of three-way Doppler tracking, including possible violations of the local Lorentz invariance （LLI） and the local position invariance （LPI）, we analyze the post-fit residuals of three-way Doppler tracking data of Mars Express. These Doppler observations were carried out from August 7th to 8th in 2009, with an uplink station administered by the European Space Agency at New Norcia in Australia and three downlink stations at Shanghai, Kunming and Urumqi in China. We find that, although these observations impose preliminary bounds on LLI at the level of 10^-2, they are not suitable for testing LPI because of the configuration of these stations and the accuracy of the observations. To our knowledge, this is one of the first attempts in China to apply radio science to the field of fundamental physics.

Spacecraft Doppler tracking with possible violations of LLI and LPI:upper bounds from one-way measurements on MEX

We analyze the post-fit residuals of one-way Doppler tracking data from the Mars Express （MEX） spacecraft to test possible violations of local Lorentz invariance （LLI） and local position invariance （LPI）. These one-way Doppler observations were carried out on 2011 August 7 for about 20 minutes at Sheshan Station of Shanghai Astronomical Observatory in China. These downlink signals were sent by MEX for telemetry at X-band. Because we are not able to decode the data in the form of teleme- try and separate them from the carrier frequency, this makes the post-fit residuals of the Doppler data degrade to the level of 0.1 m s^-1. Even so, the residuals can still impose upper bounds on LLI and LPI at 10^-1, which is consistent with the prediction based on our analysis of the detectability. Although the upper bounds given by three-way Doppler tracking of MEX are better than those obtained in the present work, one-way Doppler measurements still provide a unique chance to test possible violations of LLI and LPI far from the ground stations.

Electromagnetic effects on the orbital motion of a charged spacecraft

This paper deals with the effects of electromagnetic forces on the orbital motion of a spacecraft. The electrostatic charge which a spacecraft generates on its surface in the Earth＇s magnetic field will be subject to a perturbative Lorentz force. A model incorporating all Lorentz forces as a function of orbital elements has been developed on the basis of magnetic and electric fields. This Lorentz force can be used to modify or perturb the spacecraft＇s orbits. Lagrange＇s planetary equations in the Gauss variational form are derived using the Lorentz force as a perturbation to a Keplerian orbit. Our approach incorporates orbital inclination and the true anomaly. The numer- ical results of Lagrange＇s planetary equations for some operational satellites show that the perturbation in the orbital elements of the spacecraft is a second order perturba- tion for a certain value of charge. The effect of the Lorentz force due to its magnetic component is three times that of the Lorentz force due to its electric component. In addition, the numerical results confirm that the strong effects are due to the Lorentz force in a polar orbit, which is consistent with realistic physical phenomena that occur in polar orbits. The results confirm that the magnitude of the Lorentz force depends on the amount of charge. This means that we can use artificial charging to create a force to control the attitude and orbital motion of a spacecraft.

The Solar Upper Transition Region Imager(SUTRI)Onboard the SATech-01 Satellite

The Solar Upper Transition Region Imager(SUTRI)onboard the Space Advanced Technology demonstration satellite(SATech-01),which was launched to a Sun-synchronous orbit at a height of~500 km in 2022 July,aims to test the on-orbit performance of our newly developed Sc/Si multi-layer reflecting mirror and the 2k×2k EUV CMOS imaging camera and to take full-disk solar images at the Ne VII 46.5 nm spectral line with a filter width of~3 nm.SUTRI employs a Ritchey-Chrétien optical system with an aperture of 18 cm.The on-orbit observations show that SUTRI images have a field of view of~416×416 and a moderate spatial resolution of~8″without an image stabilization system.The normal cadence of SUTRI images is 30 s and the solar observation time is about16 hr each day because the earth eclipse time accounts for about 1/3 of SATech-01's orbit period.Approximately15 GB data is acquired each day and made available online after processing.SUTRI images are valuable as the Ne VII 46.5 nm line is formed at a temperature regime of~0.5 MK in the solar atmosphere,which has rarely been sampled by existing solar imagers.SUTRI observations will establish connections between structures in the lower solar atmosphere and corona,and advance our understanding of various types of solar activity such as flares,filament eruptions,coronal jets and coronal mass ejections.

Adaptive Sampling for Near Space Hypersonic Gliding Target Tracking

For modern phased array radar systems,the adaptive control of the target revisiting time is important for efficient radar resource allocation,especially in maneuvering target tracking applications.This paper presents a novel interactive multiple model(IMM)algorithm optimized for tracking maneuvering near space hypersonic gliding vehicles(NSHGV)with a fast adaptive sam-pling control logic.The algorithm utilizes the model probabilities to dynamically adjust the revisit time corresponding to NSHGV maneuvers,thus achieving a balance between tracking accuracy and resource consumption.Simulation results on typical NSHGV targets show that the proposed algo-rithm improves tracking accuracy and resource allocation efficiency compared to other conventional multiple model algorithms.

Analysis of the wide area differential correction for BeiDou global satellite navigation system

The regional BeiDou Satellite System, or BDS2, broadcasts a differential correction as Equivalent Satellite Clock Correction to correct both orbit and satellite clock errors. For the global BDS, or BDS3, satellite orbit and clock corrections conforming with RTCA standards will be broadcast to authorized users. The hybrid constellation and regional monitoring network pose challenges for the high precision separation of orbit and satellite clock corrections. Three correction models of kinematic,dynamic and Two-way Satellite Time Frequency Transfer(TWSTFT)-based dynamic were studied to estimate the satellite orbit and clock corrections. The correction accuracy of the three models is compared and analyzed based on the BDS observation data. Results show that the accuracies(root mean square, RMS) of dual-frequency real-time positioning for the three models are about 1.76 m, 1.78 m and 2.08 m respectively, which are comparable with the performance of WAAS and EGNOS. With dynamic corrections, the precision of Precise Point Positioning(PPP) experiments may reach about 23 cm after convergence.

Operating principles and detection characteristics of the Visible and Near-Infrared Imaging Spectrometer in the Chang'e-3

The Visible and Near-Infrared Imaging Spectrometer （VNIS）, using two acousto-optic tunable filters as dispersive components, consists of a VIS/NIR imag- ing spectrometer （0.45-0.95 μm）, a shortwave IR spectrometer （0.9-2.4 p.m） and a calibration unit with dust-proofing functionality. The VNIS was utilized to detect the spectrum of the lunar surface and achieve in-orbit calibration, which satisfied the re- quirements for scientific detection. Mounted at the front of the Yutu rover, lunar ob- jects that are detected with the VNIS with a 45° visual angle to obtain spectra and ge- ometrical data in order to analyze the mineral composition of the lunar surface. After landing successfully on the Moon, the VNIS performed several explorations and cal- ibrations, and obtained several spectral images and spectral reflectance curves of the lunar soil in the region of Mare Imbrium. This paper describes the working principle and detection characteristics of the VNIS and provides a reference for data processing and scientific applications.