Space Rendezvous Laboratory:
High-Fidelity Validation of Advanced Distributed Space Systems
Andrew Neish, Adam Koenig, Simone D’Amico
{amneish , awkoenig, damicos} @ stanford.edu
people.stanford.edu/damicos
Space Rendezvous Laboratory
Department of Aeronautics and Astronautics, Stanford University, Stanford, CA - 94305
Vision and Mission
Many novel mission concepts have been proposed using
multi-satellite systems to address fundamental questions of
science and technology. These so-called Distributed Space
Systems (DSS) promise breakthroughs in planetary and
space science, surveillance, and defense. To enable DSS, the
Stanford’s Space Rendezvous Laboratory (SLAB) aims at
developing advanced Guidance, Navigation, and Control
(GNC) subsystems for precise relative motion control
between multiple micro- and nano-satellites. Key
development objectives include millimeter-level relative
positioning precision and autonomous formation keeping,
reconfiguration, and docking. These technologies will be
rigorously validated on-ground before deployment through
high-fidelity simulations using the first-of-a-kind virtual reality
and physical testbed outlined in this poster.
Defense
Planetary
Science
Example multi-satellite mission concepts
Abstract #
20980123
Radio-Frequency Stimulator
Hardware:
• IFEN Nav-X NCS Professional GNSS signal simulator
Key Features:
• Multi-GNSS capability
• GPS, GALILEO, GLONASS, BEIDOU
• Multi-Output for spacecraft formation flying
• Full constellation and user motion specification
• Signal propagation modeling (multipath, ionosphere)
• Differential GNSS corrections
• Customizable error models
Optical Stimulator
Space
Science
Multi-Sensor Testbed
Key Features
• Cooperative operation for testing GNC subsystems using
multiple sensors and navigation modes
• Real-time communication and integration with facilities at
the Stanford’s Autonomous System Lab, NASA Ames
Research Center, Lockheed Martin, etc.
Hardware:
• Cameras:
• Blue Canyon Technologies Nano Star Tracker
• GomSpace NanoCam C1U
• Corrective Optics:
• Edmund Optics aspherized achromat lens
• Custom engineered lens assembly
• Displays:
• eMagin WUXGA OLED microdisplay
• Commercial home theater projector
Key Features:
• High-fidelity, real-time image rendering
• Short-range pose estimation simulations
• Far-range angles-only navigation simulations
• Streamlined hardware calibration
• Closed-loop, hardware-in-the-loop, high dynamic range
vision-based navigation simulations
Robotic Simulator
Hardware:
• Motion Controller
• KR10 R1100 Sixx robot arm on ceiling mounted rail drive
• Payload capacity: 10 kg
• Position repeatability: 0.03 mm
• Maximum velocity: 1 m/s
• Rail drive length: 8 m
• Maximum reach: 1 m
• Sun Simulator
• Custom theater followspot with xenon short-arc lamp
• Irradiance: 1360 W/m2
• Beam diameter: 40 cm
• Collimation angle: <10°
• Maximum intensity deviation: <20%
• Earth Albedo Simulator
• Custom LED light boxes
• Luminous area: 21 m2
• Maximum radiance: 7 W/(sr m2)
• 4-channel color control
• Automatic blackout curtains
Key Features:
• 7 degrees of freedom for sensor positioning
• One-of-a-kind high-fidelity illumination environment
• Closed-loop, hardware-in-the-loop short-range relative
navigation simulations
Acknowledgments
The authors would like to acknowledge the work by Sumant
Sharma, Duncan Eddy, Connor Beierle and Brian Carilli for
their contribution to the development of this presentation.