Preliminary Design of GNC System and Multi-mode Propulsion Cooperative Control for Micro-Nano Satellite Autonomous Rendezvous and Docking 微纳卫星自主交会对接 GNC 系统与多模式推进协同控制初步设计
- 针对微纳卫星交会的非线性与燃料平衡挑战，构建MEE动力学模型并设计基于CKF的激光/视觉融合导航方案，通过PMP最优引导策略实现100m至0.02m全流程覆盖。在达成62.88%显著节燃的同时，将终端估算误差控制在5mm以内，极大提升了任务航时与精度。
- 针对多模态水推进系统的切换稳定性要求，设计分布式6自由度协同控制方案，实现高低推力模式间≤1s的快速切换。通过引入±30%参数扰动的鲁棒性分析，验证极端工况下最终对接精度优于0.0148m，为“天工”卫星在轨服务提供了高可靠的GNC技术基准。
摘要
This paper presents a simulation-based preliminary design of a GNC system for autonomous rendezvous and docking of sub-100 kg micro-nano satellites. A long-range low-thrust rendezvous dynamic model with J2 perturbation is built using modified equinoctial elements (MEE). A phased relative navigation scheme based on cubature Kalman filter (CKF) uses lidar for long-range estimation and an improved SPNv2 visual solver for short-range docking, solving the out-of-view keypoint problem. A 6-DOF cooperative control scheme based on distributed multi-mode water-based propulsion achieves seamless switching between high-thrust and low-thrust modes (≤1s). All simulation parameters are derived from physical sensor characteristics to ensure engineering relevance. Full-process simulation shows the system completes 180° phase difference rendezvous and docking from 100m to 0.02m with final position error ≤0.02m. The fuel-optimal scheme reduces fuel consumption by 62.88% compared to the time-optimal scheme. Physical validation tests are scheduled for future work.