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platform-art© is the GMV’s dynamic test bench for supporting and enhancing the validation of space GNC technologies and related metrology equipment, with real air-to-air metrology dynamic stimulation, real-time and closed loop testing capability.

platform-art© allows the use of sensors measurements in open and closed GNC loop, through the recreation of relative (full or scaled) trajectory and attitude profile generated by on-line simulators and executed through industrial robotic arms.

In platform-art©, the sensors installed on-board the mock-ups on top of the robots end-effectors, experience the same relative kinematics and produce the same measurements as in space environment, including most of the significant space effects, such as illumination and perturbations. Representative space real-time avionics are included in the standard setup.

platform-art© therefore allows reaching on ground the highest possible maturity level (TRL) for space GNC technologies and equipment and, therefore, derisk significantly their later application in operational missions (most of them, single shoot missions with low probability to be repeated or duplicated in case of problems). It can also be used for testing GNC sensors and flight software.

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ADVANCED ROBOTIC TESTBED FOR ORBITALAND PLANETARY SYSTEM AND OPERATIONS TESTING

©platform-art

REALISTIC ILLUMINATION CONDITIONS ■ Realistic optical sensing experiments can be achieved thanks to the black curtains fully covering the walls and ceiling, achieving a real black environment simulating the outer space, and where a single strong light source provides Sun-like illumination conditions.

ACCURATE ■ The laboratory is routinely calibrated up to few 10s of micrometers (through a tool certified by external entity) and it has been validated with real flight data and images.

■ Latency of Robotic devices providing the space-representative dynamics is lower than 100 msec. Inner laboratory devices control loops effect over the GNC tests are minimized through SW-based compensation functionalities.

FLEXIBLE ■ Wide variety of dynamics can be simulated:

- Different relative satellite-satellite scenarios (such as Formation Flying, Rendez-vous, in-orbit Servicing and Active Debris Removal scenarios). - Different relative satellite-celestial body scenarios (asteroids approaching, Lunar Orbing/Landing scenarios). - Cooperative and un-cooperative Robotics/ rovers scenarios (through configuration update) for surface rovers operations, astronauts support services, and others.

■ Its modularity allows fast adaptation to different mission scenarios and to different customer requirements (e.g. different customer avionics systems can replace the default laboratory avionics system in a plug-and-play fashion with low adaptation effort required).

■ Available 3-D mock-ups:

- Realistic Lunar surface mock-up (scale 1:500.000, 0.1 mm building accuracy), corresponding to several thousands of km2 surface around the Moon South Pole (surface morphology obtained from best available sources, such as LRO and Kaguya). - PRISMA TANGO spacecraft: scale 1:1 and 1:15. - PROBA2 spacecraft: scale 1:1. - IBDM Demo mission target satellite (inc. IBDM docking mechanism static mock-up): scale 1:3. - MSR Sample Canister: scale 1:1, scale 1:3 and scale 1:30. - Asteroids mockups: Itokawa (scale 1:1675), Itokawa (scale 1:28), Dydimos/Dydimoon (scale 1:3294).

■ 600 m3 facility / 16 meters rail to reproduce last meters approaching trajectories.

■ Different sensors (optical camera, Laser, Radio Frequency GPS-like) available in the lab.

SCALABLE ■ Application of scaling factors to kinematics/dynamics conditions and to satellite/celestial bodies mock-ups size allows to test multiple missions phases:

- Relative satellite-satellite scenarios up to 1:30 scale (reproduction of scenarios till 500 meters relative distance). Analytical demonstration of negligible (at least, one order of magnitude lower than other relevant effects) impact in the GNC system performance evaluation of the applied scaling effect within sensors (optical camera, LIDAR, Radio-Frequency) GNC metrology systems is available. - Relative satellite-celestial bodies scenarios up to 1:1.000.000 scale. Moon/Planetary orbiting and terminal approach for landing/touch phases reproduction is possible from up to 10s of thousands of kilometers.

platform-art© key data

Dynamic range: 18 m

Calibration/Ground truth Accuracy:

0.1 mm (through FARO laser tracker)

Resolution: < 0.01 mm

Repeatability: < 0.1 mm

Darkness: full darkness room (optical spectrum)

Illumination space representative at optical spectrum

Mock-ups (inc. metrology): up to 1.5 m size, 150 kg, sensors remote control

Location/Access: GMV head-quarters (Madrid), WIFI, canteen, offices, meeting rooms, …

platform-art© MAIN FEATURES

platform-art© LABORATORY SETUPplatform-art© is composed by the following three elements:

■ platform-art©_AVIONICS (exchangeable/tailorable upon client request).

■ platform-art©_MECHATRONICS (fixed core). ■ platform-art©_SENSORS (default sensors by GMV; specific sensors by customer).

platform-art© LABORATORY SETUPplatform-art©_AVIONICS is the real-time simulation environment core that host the GNC SW in a space representative target processor (e.g. LEON family).

■ Real-time simulator (dSpace) with monitoring system. ■ Representative space target processor (RASTA/LEON) with monitoring system (GRMON).

■ Tailorable: platform-art©_AVIONICS can be tailored/ updated to be used under custo mer specific requirements.

platform-art©_MECHATRONICSplatform-art©_MECHATRONICS system elements provide the relative motion between a chaser spacecraft and a target (each mounted on a KUKA 6DOF robot arm):

■ 2xKUKA KR150-2: 2x6DOF robotic arms for accurate reproduction of the chaser and target spacecraft dynamics. One of them mounted over a 16m length rail track (7th DOF).

■ 6xDOF Cartesian (controllable) + solar lamp illumination system for representative reproduction of real solar illumination.

■ Mitsubishi PA10-6CE / Universal Robotics 05: 2x6 DOF light robotic manipulators for in-orbit servicing application testing.

■ Measurement of contact forces/torques through load/torque cells in the interfaces between the test bench robotic arms and the spacecraft mockups or between mockups and servicing manipulators or at the tip of manipulators.

■ Easy add-on of new mechatronics elements: robotics arms, parallel robots…

■ A number of S/C mock-ups which are representative in shape and materials of the target spacecraft.

platform-art©_SENSORSplatform-art© can be used for testing GNC systems, including a number of different sensors. Also unitary testing of sensors in space representative conditions is possible.

Several sensors interfaces are therefore available for customer-provided sensors: Ethernet UDP/IP, Serial port (RS-232, RS-422), SpaceWire, USB.

Optical navigation camera/s, industrial laser sensor and a set of GPS-like pseudolites are the default sensors provided by GMV. Past customers sensors used in different application test campaigns include ILT LIDAR B/B by Jena-Optronik (Germany) and Visual Based Systems (VBS) EM by DTU (Denmark) and TSD (Italy).

PROBA2 satellite Mock-up (scale 1:1) ILT Lidar Breadboard (JenaOptronik) & ommercial optical camera accommodation set-up for MSR RdV scenario test

MSR Sample Canister Mock up (scale 1:3) Lunar South Pole surface mock-up (scale 1:500.000)

ESA ORCO project tests: (left) laboratory set-up; (right top): synchronization trajecto-ry; (right bottom) acquired image by navigation camera and target model matching

MSR Sample Capture phase and real images obtained during dynamic platform-art©

NEO asteroid approaching phase GNC test set-up using platform-art©

Model-Based Tracking (MBT) Image Processing result over an image captured by a visual camera using PROBA2 mockup

© GMV www.gmv.com

platform-art© CUSTOMERS platform-art© has been or is being used in a number ofGNC R&D activities, among others:

■ IBDM (International Berthing and Docking Mechanism) Breadboard docking tests (with dedicated mechanical I/F).

■ HARVD (ESA): validation of GNC for in-orbit servicing & Rendezvous/capture of the OS in ESA MSR mission.

■ PRISMA-HARVD (ESA): comparison/tuning of platform-art© laboratory acquired images with real space images/ telemetry acquired through Swedish PRISMA satellites.

■ VISONE (ROSA, Romania): validation of Moon crater-based Absolute Navigation with space-representative optical camera and accurate Moon South Pole surface mock-up.

■ iGNC (ESA): closed loop Real-Time HIL validation of “Integrated GNC Solution for Autonomous Mars Rendezvous and Capture”, for MSR scenario.

■ NEO-GNC (ESA): validation of asteroid approaching GNC technologies with dynamic asteroid mockups.

■ NEOSHIELD-2 (EC): asteroid approaching/ impact GNC development and validation with asteroid mockups.

■ AIM (ESA): GNC and Image Processing for AIM mission using DOWN camera within platform-art©.

■ AnDRoID (ESA): angular rate synchronization experiment for Active Debris Removal scenario.

■ ORCO (ESA): On-ground validation of Debris Removal technologies, inc. approach and contact.

■ COMRADE (ESA): Control and Management of Robotics Active De-bris Removal, inc. approach, manipulator deployment, capture and stabilization of ENVISAT target.

platform-art© is also available for external customers at tight and convenient prices/conditions, including continuous engineering support before, during and after the test for test set-up, integration of customer equipment/systems, telemetry

generation and post-processing. http://www.gmv.com/en/space/products/platform/index.html (platform-art@gmv.com)

Sequence of laboratory acquired test images at different times during synchroniza-tion phase with PROBA2 debris mockup during HW-in-The-Loop GNC tests of ESA ANDROID mission study

Use what you need: customized set up according to the requirements

©platform-art

■ ESROCOS/ERGO/FACILITATORS (EC): Robotics PERASPERA Call 1H2020 Building blocks testing for in-orbit Servicing.

■ Commercial clients: - TeamIndus (India, Google Lunar XPrize project). - Effective Space (Israel, SPACE DRONE™ docking mechanism and Image Processing testing).