Preliminary Design of GNC System and Multi-mode Propulsion Cooperative Control for Micro-Nano Satellite Autonomous Rendezvous and Docking 微納衛星自主交會對接 GNC 系統與多模式推進協同控制初步設計
- 針對微納衛星交會的非線性與燃料平衡挑戰，建構 MEE 動力學模型並設計基於 CKF 的雷射／視覺融合導航方案，透過 PMP 最優引導策略實現100m至0.02m全流程覆蓋。於達成62.88%顯著節燃之同時，將終端估算誤差控制在5mm以內，極大提升了任務航時與精度。
- 針對多模態水推進系統的切換穩定性要求，設計分散式6自由度協同控制方案，實現高低推力模式間≤1s的快速切換。透過引入±30%參數擾動的韌性分析，驗證極端工況下最終對接精度優於0.0148m，為「天工」衛星在軌服務提供了高可靠的 GNC 技術基準。
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.