New Developments in Celestial Dynamics in Strongly Perturbed Environments - Autonomous Rendezvous Technology to Very Distant Objects

• Project/Area Number: 18H01628
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 24010:Aerospace engineering-related
• Research Institution: Japan Aerospace EXploration Agency
• Principal Investigator: Tsuda Yuichi 国立研究開発法人宇宙航空研究開発機構, 宇宙科学研究所, 教授 (50370101)
• Project Period (FY): 2018-04-01 – 2022-03-31
• Project Status: Completed (Fiscal Year 2021)
• Budget Amount: ¥17,030,000 (Direct Cost: ¥13,100,000、Indirect Cost: ¥3,930,000); Fiscal Year 2021: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000); Fiscal Year 2020: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000); Fiscal Year 2019: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000); Fiscal Year 2018: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
• Keywords: 誘導 / 航法 / 制御 / 太陽系探査

Outline of Final Research Achievements

This research aims to realize autonomous rendezvous guidance and navigation to very distant celestial bodies. As "needs for high autonomy" and "strong purturbations" are typical characteristics for rendezvous to far distant bodies or to spacecraft flying in the vicinity of such bodies, they are precisely implemented into the dynamical model to build a rendezvous navigation theory, and to conduct numerical experiments. The template matching method with celestial object contours based on the VCC method and the active terrain-relative navigation algorithm that places multiple small artificial landmarks on the surface are proposed as autonomous, reliable, and real-time optical navigation algorithms. The effectiveness of both methods was evaluated using actual observation data from the asteroid explorer Hayabusa2. Progress has also been made in mission conception using these navigation methods and extraction of key technologies for it.

Academic Significance and Societal Importance of the Research Achievements

世界の宇宙探査の趨勢は，高重力天体や遠方小天体への離着陸を含むミッションである．小惑星探査機はやぶさ２は，小天体離着陸を世界に先駆けて成功させたものの，高々3.6億キロメートルの距離において，地上からの指令にかなり依拠した手法で着陸を成功させたものである．本研究は，より大きな天体や遠方の天体で必要となる，高度に自律的な天体相対の宇宙機の軌道管理の手法を開発したものである．本研究の成果は，より遠くの，より大きな天体への離着陸ミッションの構想実現へ貢献できるものと期待される．

Research Products

• [Journal Article] Simultaneous estimation of spacecraft position and asteroid diameter during final approach of Hayabusa2 to Ryugu (2020)
  • Author(s): Takao Yuki、Mimasu Yuya、Tsuda Yuichi
  • Journal Title: Astrodynamics Volume: 4 Issue: 2 Pages: 163-175
  • DOI: 10.1007/s42064-020-0078-5
  • Peer Reviewed
• [Journal Article] Autonomous image-based navigation using vector code correlation algorithm for distant small body exploration (2020)
  • Author(s): Ohira Genki、Kashioka Shuya、Takao Yuki、Iyota Taketoshi、Tsuda Yuichi
  • Journal Title: Acta Astronautica Volume: - Pages: 400-413
  • DOI: 10.1016/j.actaastro.2020.10.013
  • Peer Reviewed / Open Access
• [Journal Article] Rendezvous to Asteroid with Highly Uncertain Ephemeris: Hayabusa2’s Ryugu‐Approach Operation Result (2020)
  • Author(s): Yuichi Tsuda, Hiroshi Takeuchi, Naoko Ogawa, Go Ono, Shota Kikuchi, Yusuke Oki, Masateru Ishiguro, Daisuke Kuroda, Seitaro Urakawa, Shin-ichiro Okumura and Hayabusa2 Project Team
  • Journal Title: Astrodynamics J. Volume: -
  • Peer Reviewed
• [Journal Article] Visual localization for asteroid touchdown operation based on local image features (2019)
  • Author(s): Yoshiyuki Anzai, Takehisa Yairi, Naoya Takeishi, Yuichi Tsuda, Naoko Ogawa
  • Journal Title: Astrodynamics J. Volume: -
  • Peer Reviewed
• [Journal Article] Extension of Stable Terminator Orbit around Small Bodies (2019)
  • Author(s): Y. Oki, Y. Tsuda, J. Kawaguchi
  • Journal Title: Acta Astronatuca Volume: 157 Pages: 180-188
  • DOI: 10.1016/j.actaastro.2018.12.027
  • Peer Reviewed
• [Journal Article] Stability Analysis of Coupled Orbit-Attitude Dynamics Around Asteroids Using Finite-Time Lyapunov Exponents (2019)
  • Author(s): Shota Kikuchi, Yuichi Tsuda, Makoto Yoshikawa, Jun’ichiro Kawaguchi
  • Journal Title: Journal of Guidance, Control and Dynamics Volume: 42(6) Issue: 6 Pages: 1289-1305
  • DOI: 10.2514/1.g003879
  • Peer Reviewed
• [Journal Article] Prearrival Deployment Analysis of Rovers on Hayabusa2 Asteroid Explorer (2018)
  • Author(s): Van wal, S., Tsuda, Y., Yoshikawa, K., Miura, A., Tanaka, S., Scheeres, D.
  • Journal Title: Journal of Spacecraft and Rockets Volume: 55(4) Pages: 797-817
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Stability Analysis of Generalized Sail Dynamics Model (2018)
  • Author(s): Ono, G., Kikuchi, S., Tsuda, Y.
  • Journal Title: Journal of Guidance Control and Dynamics Volume: 41(9) Issue: 9 Pages: 2011-2018
  • DOI: 10.2514/1.g003418
  • Peer Reviewed
• [Presentation] Estimation of the Spacecraft Position Based on Point Cloud by Applying Polar Hough Transform (2022)
  • Author(s): Shuya Kashioka, Genki Ohira Yuki Takao, Iaketoshi Iyota, Yuichi Tsuda
  • Organizer: 33rd International Symposium on Space Technology and Science
  • Int'l Joint Research
• [Presentation] Real-Time Navigation Using Ultra-Wideband Ranging with Artificial Markers for Small Body Exploration (2022)
  • Author(s): Ohira, G., Takao, Y., Yoshikawa, M., Tsuda, Y.
  • Organizer: 33rd International Symposium on Space Technology and Science
  • Int'l Joint Research
• [Presentation] The Deep Space Orbital Transfer Vehicle Inspired by the Hayabusa2 Technology (2022)
  • Author(s): Yuto Takei, Takanao Saiki, Roger Gutierrez Ramon, Naoko Ogawa, Yuya Mimasu, Maiko Yamakawa, Yusuke Maru, Yuichi Tsuda
  • Organizer: 33rd International Symposium on Space Technology and Science
  • Int'l Joint Research
• [Presentation] In-Orbit Change in Phase by Lagrange Points Stand-by Transfers (2022)
  • Author(s): Roger GUTIERREZ-RAMON, Yuto TAKEI, Takanao SAIKI, Yuichi TSUDA, and Yasuhiro KAWAKATSU
  • Organizer: 33rd International Symposium on Space Technology and Science
  • Int'l Joint Research
• [Presentation] 次世代小天体サンプルリターンの構想について (2022)
  • Author(s): 津田雄一，嶌生有理，次世代サンプルリターン WG（準備）チーム
  • Organizer: 第22回宇宙科学シンポジウム
• [Presentation] "Position Estimation Method by Asteroid Shape Images and Image Coding Method for On-board Optical Navigation (2021)
  • Author(s): Shuya Kashioka, Genki Ohira Yuki Takao, Iaketoshi Iyota, Yuichi Tsuda
  • Organizer: 31ST AAS/AIAA Space Flight Mechanics Meeting
  • Int'l Joint Research
• [Presentation] Rendezvous Trajectories for DS-OTV Mission on Weak Stability Boundary Orbits (2021)
  • Author(s): Roger Gutierrez Ramon, Yuying Liang, Yuichi Tsuda, Yasuhiro Kawakatsu
  • Organizer: AIAA/AAS Astrodynamics Specialist Conference 2021
  • Int'l Joint Research
• [Presentation] Autonomous Navigation Based on Point Cloud and Hough Transform for Distant Exploration (2021)
  • Author(s): Shuya Kashioka, Genki Ohira Yuki Takao, Taketoshi Iyota, Yuichi Tsuda
  • Organizer: 31st Workshop on JAXA Astrodynamics and Flight Mechanics
• [Presentation] Deep Space Orbital Transfer Vehicle (DS OTV): the status of conceptual studies (2021)
  • Author(s): Yuto Takei, Takanao Saiki, Yusuke Maru, Yuya Mimasu, Naoko Ogawa, Roger Gutierrez Ramon, Maiko Yamakawa, Yuichi Tsuda
  • Organizer: 31st Workshop on JAXA Astrodynamics and Flight Mechanics
• [Presentation] オンボード画像マッチングにおける参照画像生成を目的とした組み込みRISC-Vシステムの検討 (2021)
  • Author(s): 高島 浩司，伊与田 健敏（創価大学），津田 雄一（ISAS/JAXA）
  • Organizer: 第64回 自動制御連合講演会
• [Presentation] Trajectory Design Techniques in the CRTBP for a DS-OTV Mission (2021)
  • Author(s): Roger Gutierrez-Ramon, Yuying Liang, Yuto Takei, Takanao Saiki, Yuichi Tsuda, Yasuhiro Kawakatsu
  • Organizer: 31st Workshop on JAXA Astrodynamics and Flight Mechanics
• [Presentation] Position Estimation Method by Asteroid Shape Images and Image Coding Method for On-board Optical Navigation (2021)
  • Author(s): Shuya Kashioka, Genki Ohira, Yuki Takao, Taketoshi Iyota, and Yuichi Tsuda
  • Organizer: 31st AAS/AIAA Space Flight Mechanics Meeting
  • Int'l Joint Research
• [Presentation] Design of a Deep Space Orbit Transfer Vehicle (DS-OTV) Architecture (2020)
  • Author(s): Gutierrez-Ramon, R., Liang, Y., Tsuda, Y.
  • Organizer: AIAA/AAS, Astrodynamics Specialist Conference
  • Int'l Joint Research
• [Presentation] Real-Time Optical Navigation by Perspective Projection Estimation using Shape Model for Far-Distant Small Body Explorations (2020)
  • Author(s): Ohira, G., Kashioka, S., Takao, Y., Iyoda, T., Tsuda, Y.
  • Organizer: 71st International Astronautical Congress
  • Int'l Joint Research
• [Presentation] The self-position estimation of a spacecraft for descent and landing on an asteroid using a shape model of asteroid (2020)
  • Author(s): 柏岡 秀哉, 大平 元希, 高尾 勇輝, 伊与田 健敏, 津田 雄一
  • Organizer: 30th Workshop on JAXA Astrodynamics and Flight Mechanics
• [Presentation] Design of a Deep Space Orbit Transfer Vehicle (DS-OTV) Architecture (2020)
  • Author(s): Gutierrez-Ramon, R., Liang, Y., Tsuda, Y.
  • Organizer: 30th Workshop on JAXA Astrodynamics and Flight Mechanics
• [Presentation] The Concept of Deep Space Orbital Transfer Vehicle (DSOTV) Inspired by Hayabusa2 Technology (2020)
  • Author(s): Yuto Takei, Takanao Saiki, Yuya Mimasu, Naoko Ogawa, Roger Guitierrez Ramon, Yuki Kubo, Maiko Yamakawa, Yuki Takao, Yusuke Maru, Satoshi Nonaka, YuichiTsuda
  • Organizer: ISAS Planetary Exploration Workshop
• [Presentation] Concept and Feasibility of a Deep Space OrbitTransfer Vehicle (2020)
  • Author(s): Roger Gutierrez Ramon, Yuichi Tsuda, Takanao Saiki, Yuto Takei, Yuya Mimasu, Yusuke Maru, Satoshi Nonaka, Shinichiro Tokudome
  • Organizer: 第64回宇宙科学技術連合講演会
• [Presentation] Frozen Orbits under Radiation Pressure and Zonal Gravity Perturbations (2020)
  • Author(s): S. Kikuchi, Y. Oki, and Y. Tsuda,
  • Organizer: 30th AIAA/AAS Space Flight Mechanics Meeting, Orlando, Florida, 2020
  • Int'l Joint Research
• [Presentation] Landmark-Free Optical Navigation Around Small Bodies: Application to the Hayabusa2 Touchdown on Ryugu (2019)
  • Author(s): Yuki Takao, Yuichi Tsuda
  • Organizer: 70th International Astronautical Congress
  • Int'l Joint Research
• [Presentation] Position estimation method using asteroid shape model and vector code correlation for onboard optical navigation (2019)
  • Author(s): Shuya Kashioka, Genki Ohira, Yuki Takao, Miyuki Kadokura, Toshio Iyota, Yuichi Tsuda
  • Organizer: 32nd International Symposium on Space Technology and Science
  • Int'l Joint Research
• [Presentation] 画像列を用いた小惑星形状・探査機相対運動の逐次推定 (2019)
  • Author(s): 鈴木 透馬, 矢入 健久, 武石 直也, 津田 雄一, 尾川 順子
  • Organizer: 2019年度人工知能学会全国大会
• [Presentation] Onboard optical navigation for asteroid explorer by asteroid shape model (2019)
  • Author(s): Shuya Kashioka, Genki Ohira, Yuki Takao, Toshio Iyota, Yuichi Tsuda
  • Organizer: The 2019 AAS/AIAA Astrodynamics Specialist Conference
  • Int'l Joint Research
• [Presentation] Landmark-Free Optical Navigation Around Small Bodies: Application to the Hayabusa2 Touchdown on Ryugu (2019)
  • Author(s): Yuki Takao, Yuichi Tsuda
  • Organizer: 70th International Astronautical Congress, Washington D.C., 2019.
  • Int'l Joint Research
• [Presentation] MINERVAII-2のリュウグウ周回軌道設計 (2019)
  • Author(s): 大木優介、吉川健人、菊地翔太、津田雄一
  • Organizer: 第29回 アストロダイナミクスシンポジウム
• [Presentation] Guidance and Navigation Result of Hayabusa2 Asteroid Rendezvous Operation (2019)
  • Author(s): Yuichi Tsuda, Hiroshi Takeuchi, Naoko Ogawa, Go Ono, Shota Kikuchi, Yusuke Oki, Masateru Ishiguro, Daisuke Kuroda, Seitaro Urakawa, Shin-ichiro Okumura and Hayabusa2 Project Team
  • Organizer: 32nd International Symposium on Space Technology and Science
  • Int'l Joint Research
• [Presentation] Deployment Analysis and Trajectory Reconstruction of Minerva-II Rovers on Asteroid Ryugu (2019)
  • Author(s): Stefaan Van wal, Y. Tsuda, K. Yoshikawa
  • Organizer: 29th AAS/AIAA Space Flight Mechanics Meeting, Ka'anapali, HI, 2019
  • Int'l Joint Research
• [Presentation] Retrograde Teardrop Orbits about Asteroids: Application to the Hayabusa2 Mission (2019)
  • Author(s): S. Kikuchi, Y. Oki, T. Saiki, Y. Takei, H. Takeuchi, G. Ono, H. Ikeda, and Y. Tsuda
  • Organizer: 29th AAS/AIAA Space Flight Mechanics Meeting, Ka'anapali, HI, 2019
  • Int'l Joint Research
• [Presentation] Model-Based Optical Navigation for Autonomous Landing on Asteroids (2019)
  • Author(s): Takao, Y., Tsuda, Y., Saiki, N., Ogawa, N.
  • Organizer: 29th AAS/AIAA Space Flight Mechanics Meeting, Ka'anapali, HI, 2019
  • Int'l Joint Research
• [Presentation] Hayabusa2 Mission Solar Conjunction Phase for Hovering Satellite: Trajectory Design, Navigation and Post-Operation Evaluation (2019)
  • Author(s): S. Soldini, Y. Tsuda, T. Yamaguchi
  • Organizer: 29th AAS/AIAA Space Flight Mechanics Meeting, Ka'anapali, HI, 2019
  • Int'l Joint Research
• [Presentation] Analysis of Bidirectional Reflection Distribution Function on a Solar Cell with a Microstructure (2018)
  • Author(s): Kashioka, S., Tsuda, Y
  • Organizer: International Astronautical Congress (IAC), Bremen, 2018
  • Int'l Joint Research
• [Presentation] 小惑星形状の点群データを用いた自律誘導航法に関する研究 (2018)
  • Author(s): 柏岡秀哉, 大平元希, 高尾 勇輝, 伊予田健敏,津田 雄一
  • Organizer: 第62回宇宙科学技術連合講演会, 福岡, 2018
• [Presentation] 画像航法用VCC(ベクトル符号相関法)アルゴリズムのオンボー ド処理化に関する研究 (2018)
  • Author(s): 大平元希, 柏岡秀哉, 高尾勇輝, 門倉美幸, 伊与田健敏, 津田雄一
  • Organizer: 第62回宇宙科学技術連合講演会, 福岡, 2018
• [Presentation] On-board processing of VCC (vector code correlation) algorithm for image navigation system (2018)
  • Author(s): Ohira, G., Kashioka, S., Takao, Y., Kadokura, M., Tsuda, Y.
  • Organizer: 28th Workshop on JAXA Astrodynamics and Flight Mechanics, Sagamihara, 2018
• [Presentation] Study of Estimation of the Position of the Spacecraft by Point Cloud Data (2018)
  • Author(s): Kashioka, S., Ohira, G., Takao, Y., Iyota, T., Tsuda, Y.
  • Organizer: 28th Workshop on JAXA Astrodynamics and Flight Mechanics, Sagamihara, 2018
• [Presentation] Retrograde Teardrop Orbits around Small Celestial Bodies (2018)
  • Author(s): 菊地翔太、大木優介、津田雄一、武井悠 人、竹内央、佐伯孝尚、池田人、大野剛
  • Organizer: 28th Workshop on JAXA Astrodynamics and Flight Mechanics, Sagamihara, 2018
• [Presentation] Trajectory Design and Operations for Solar Conjunction during Hayabusa2 Hovering Phase (2018)
  • Author(s): Stefania Soldini
  • Organizer: 28th Workshop on JAXA Astrodynamics and Flight Mechanics, Sagamihara, 2018
• [Patent(Industrial Property Rights)] パラレルリンクロボット (2020)
  • Inventor(s): 武井悠人，津田雄一，佐伯孝尚，三桝裕也，尾川順子
  • Industrial Property Rights Holder: 武井悠人，津田雄一，佐伯孝尚，三桝裕也，尾川順子
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2020-176927
  • Filing Date: 2020