Abstract
The Japanese interplanetary probe Hayabusa2 was launched on December 3, 2014 and the probe arrived at the vicinity of asteroid 162173 Ryugu on June 27, 2018. During its 1.4 years of asteroid proximity phase, the probe successfully accomplished numbers of record-breaking achievements including two touchdowns and one artificial cratering experiment, which are highly expected to have secured surface and subsurface samples from the asteroid inside its sample container for the first time in history. The Hayabusa2 spacecraft was designed not to orbit but to hover above the asteroid along the sub-Earth line. This orbital and geometrical configuration allows the spacecraft to utilize its high-gain antennas for telecommunication with the ground station on Earth while pointing its scientific observation and navigation sensors at the asteroid. This paper focuses on the regular station-keeping operation of Hayabusa2, which is called “home position” (HP)-keeping operation. First, together with the spacecraft design, an operation scheme called HP navigation (HPNAV), which includes a daily trajectory control and scientific observations as regular activities, is introduced. Following the description on the guidance, navigation, and control design as well as the framework of optical and radiometric navigation, the results of the HP-keeping operation including trajectory estimation and delta-V planning during the entire asteroid proximity phase are summarized and evaluated as a first report. Consequently, this paper states that the HP-keeping operation in the framework of HPNAV had succeeded without critical incidents, and the number of trajectory control delta-V was planned efficiently throughout the period.
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11 February 2022
A Correction to this paper has been published: https://doi.org/10.1007/s42064-022-0136-2
Abbreviations
- AIT:
-
asteroid image tracking
- ATT:
-
spacecraft attitude
- au:
-
astronomical unit
- BOT:
-
beginning of tracking pass
- dV :
-
Delta-V
- EOT:
-
end of tracking pass
- FTA:
-
fixed time arrival
- FOV:
-
field of view
- GNC:
-
guidance, navigation, and control
- GCP-NAV:
-
ground control points navigation
- HGA:
-
high-gain antenna
- HP:
-
home position
- HPNAV:
-
HP navigation
- IRU:
-
inertial reference unit
- JAXA:
-
Japan Aerospace Exploration Agency
- LIDAR:
-
light detection and ranging (laser altimeter)
- LGA:
-
low-gain antenna
- MGA:
-
medium-gain antenna
- NASA:
-
National Aeronautics and Space Administration
- NIRS3:
-
near-infrared spectrometer
- ONC-W1/W2:
-
optical navigation camera wide-1/wide-2
- ONC-T:
-
optical navigation camera telescopic
- RARR:
-
range and range rate
- RCS:
-
reaction control system
- SC:
-
spacecraft
- STT:
-
star tracker
- SPE:
-
Sunprobe-Earth angle
- SRP:
-
solar radiation pressure
- TIR:
-
thermal infrared imager
- UDSC:
-
Usuda Deep Space Center
- A :
-
area (m2)
- \(^{\rm{B}}{{\bf{A}}_{\rm{C}}}\) :
-
coordinate transformation matrix from frame C to frame B
- c :
-
speed of light (m/s)
- C τ :
-
radiation pressure coefficient
- GM:
-
gravitational parameter of the asteroid (m3/s2)
- K :
-
coefficient for the cannonball-based SRP model
- M :
-
spacecraft mass (kg)
- n :
-
unit vector normal to the SRP-induced surface of the spacecraft
- r :
-
spacecraft position vector in the HP frame (m)
- r S :
-
spacecraft to Sun distance (au)
- S :
-
solarconstant(W/m2)
- S :
-
spacecraft to Sun unit vector
- X HP :
-
position or axis in the x-direction of the HP frame
- Y HP :
-
position or axis in the y-direction of the HP frame
- Z HP :
-
position or axis in the z-direction of the HP frame
- ω HP :
-
rotation vector of the HP frame (rad/s)
- Σ I :
-
spacecraft centered inertial frame (inertial frame)
- Σ SC :
-
spacecraft body fixed reference frame (SC frame)
- Σ HP :
-
HP reference frame (HP frame)
- Σ W1 :
-
ONC-W1 reference frame (ONC-W1 frame)
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Yuto Takei received his Ph.D. degree in mechanical and aerospace engineering from Tokyo Institute of Technology, Japan, in 2015. He served as a visiting scholar at the Institute of Robotics and Mechatronics of German Aerospace Center (DLR) in 2013. He is currently a researcher at Research and Development Directorate, Japan Aerospace Exploration Agency (JAXA). He is involved in the Hayabusa2 project as a systems engineer. His research interests include astrodynamics, spacecraft system, space robotics, and deep space exploration.
Takanao Saiki received his Ph.D. degree in engineering from the University of Tokyo, Japan, in 2005. He is an assistant professor at the Institute of Space and Astronautical Science (ISAS), JAXA. He is now involved in the Hayabusa2 project. He was a chief developer of the impact system and he is currently a project engineer. His research interests include astrodynamics, spacecraft system, and deep space exploration.
Yukio Yamamoto received his Ph.D. degree in planetary science from the University of Tokyo, Japan, in 2002. He is an assistant professor at ISAS, JAXA. He is now involved in the Hayabusa2 project. He supports the Hayabusa2 mission preparing ground data processing and data archives both for private and public datasets. His research interests include planetary data archives on lunar and planetary explorations.
Yuya Mimasu is a researcher at JAXA. He graduated with his Ph.D. degree in aerospace engineering from Kyushu University. After graduation, he joined JAXA, and has been working on guidance, navigation, and control (GNC) subsystem of the Hayabusa2 mission that is JAXA’s sample return mission from the asteroid. His research interests are astrodynamics and mission analysis around the small body.
Hiroshi Takeuchi received his Ph.D. degree of science (physics and applied physics) from Waseda University in 2000. In 2006 he started working at ISAS/JAXA as a member of deep space orbit determination group. He was a visiting researcher of the NASA Jet Propulsion Laboratory in 2012-2013. He is currently an associate professor of ISAS/JAXA and is also the lead of the orbit determination of Hayabusa2. His current research interest is the development of the Deepspace Multi-Objects Orbit Determination System.
Hitoshi Ikeda received his Ph.D. degree from Kyusyu University, Japan, in 2008. He is a researcher at Research and Development Directorate, JAXA. He is involved in Hayabusa2 project as a radio science researcher. His research interests include astrodynamics, orbit determination, mission design, and flight dynamics operation.
Naoko Ogawa received her B.E., M.E., and Ph.D. degrees in mathematical engineering and information physics in 2000, 2002, and 2005, respectively, from the University of Tokyo, Japan. From 2004 to 2008, she was a research fellow of the Japan Society for the Promotion of Science. Since 2008 she has been a research engineer at ISAS, JAXA. Her current research interests include astrodynamics, mission design, robotics, spacecraft systems, and operation.
Fuyuto Terui received his Ph.D. degree in aerospace engineering from the University of Osaka Prefecture in 1989. He has been a staff member of Space Technology Research Center of National Aerospace Laboratory (NAL) of Japan since 1989. He was a visiting scholar of University of Cambridge, Engineering Department, Control Group between 1994 and 1995. After the reorganization of space agencies in Japan, he has been a staff member of JAXA since 2003 and is now a function manager of the Hayabusa2 project, as well as a representative of Attitude and Orbit Control System of Hayabusa2 spacecraft. His main research field is robust control and image-based guidance, navigation, and control of a spacecraft such as debris removal space robot and the asteroid exploration probe.
Go Ono is a researcher at JAXA. He graduated with his master degree of engineering from the University of Bath in 2011, and with his Ph.D. degree in aerospace engineering from the University of Tokyo in 2014. He joined JAXA in 2015, and has been working on GNC systems of JAXA’s deep space missions such as Hayabusa2 and Martian Moons Exploration (MMX). His current research interests are astrodynamics and deep space exploration.
Kent Yoshikawa received his bachelor and master degrees in engineering from Tokyo Institute of Technology in 2013 and 2015, respectively. From 2015, he has been working as an engineer in Research and Development Directorate, JAXA. His current research interests include astrodynamics, GNC, planetary robotics, and planetary exploration.
Tadateru Takahashi received his bachelor, master degrees in engineering from Ibaraki University in 1995, 1997, respectively. From 2005, he has been working as an engineer in NEC Aerospace Systems, Ltd., and joined NEC Corporation in 2016. He was seconded to JAXA from 2016 to 2019.
Hirotaka Sawada received his B.E. and M.E. degrees from Tokyo Institute of Technology, Japan, in 1998 and 2001, respectively. He received his Ph.D. degree from Tokyo Institute of Technology, Japan, in 2004. He is an associate senior engineer of JAXA. He is currently involved in the MMX project. His specialized field of research includes space robotics, dynamics and control of space systems.
Chikako Hirose has been working at JAXA since 2004. She is currently a senior engineer and has been involved in over 20 missions in flight dynamics field. She joined the Hayabusa2 team in 2018 after she finished her research at NASA as a visiting researcher for one year. Prior to that, she demonstrated her leadership in Venus orbit insertion of the Japanese first planet orbiter, Akatsuki. She obtained her master degree in physics from Ochanomizu University in 2004.
Shota Kikuchi received his Ph.D. degree in aeronautics and astronautics from the University of Tokyo in 2018. From 2015 to 2017, he served as a visiting scholar at Purdue University and NASA Jet Propulsion Laboratory. He is currently a postdoctoral research associate at JAXA and is engaged in the Hayabusa2 asteroid sample return mission as a system engineer. His primary research interests lie in the field of astrodynamics, particularly in the dynamics around small bodies.
Atsushi Fujii is a researcher at the Hayabusa2 Project Team, ISAS, JAXA. He received his bachelor degree of engineering from Saitama University, Japan. He involves in the Hayabusa2 project as a ground system engineer.
Takahiro Iwata received his Ph.D. degree from Nagoya University, Japan, in 1989. He is an associate professor at ISAS, JAXA. He is now involved in the Department of Solar System Sciences. His research interests include planetary science, radio astronomy, and space geodesy.
Satoru Nakazawa received his Ph.D. degree in science from Nagoya University, Japan, in 1999. He works at ISAS, JAXA, and he is now involved in the Hayabusa2 project. He is a deputy manager of the project team. His research interests include planetary science, spacecraft system engineering, and deep space exploration.
Masahiko Hayakawa received his doctor degree of science from Nagoya University, Japan, in 1989. He is an assistant professor at the Department of Solar System Sciences, ISAS, JAXA. He is involved in the Hayabusa2 project as a member of science team/SCI team/ONC team. His research interests include origin and evolution of solar system and internal structure of planets.
Ryudo Tsukizaki received his B.E., M.E., and Ph.D. degrees in electric propulsion from the University of Tokyo in 2008, 2010, and 2013, respectively. He is currently an assistant professor at ISAS/JAXA with 10 years of experience in the research and development of the flight model of microwave ion thruster system of Hayabusa2.
Satoshi Tanaka is an associate professor at ISAS, JAXA. He is now involved in the Hayabusa2 project and the principal investigator (PI) of Mid infrared Thermal Imager (TIR) on board Hayabusa2. His research interests include planetary science, development of science instruments on board spacecraft.
Masanori Matsushita is a research and development staff in ISAS/JAXA. He works on the OKEANOS solar power sail and mainly in charge of the sail membrane structure. He received his M.S. and Ph.D. degrees of engineering from Tokyo Institute of Technology, in 2014 and 2018, respectively. He is involved in the Hayabusa2 project as one of the operation supervisors. His research interests are space membrane structures, electrical power systems, and micro-satellites.
Osamu Mori received his Ph.D. degree in engineering from Tokyo Institute of Technology, Japan, in 2002. He is currently an assistant professor at ISAS, JAXA. He is in charge of Hayabusa2 chemical propulsion system, target marker, and flash lamp. His research includes spacecraft systems, propulsion systems, multibody dynamics, guidance, navigation and control.
Daiki Koda received his Ph.D. degree in engineering from Tokyo University, Japan, in 2017. He is a project research associate at the Space Exploration Innovation Hub Center, JAXA. He’s done research on the application of C60 negative ion sources for ion thrusters and the measurement of atomic oxygen created by plasma sources. He is currently in charge of the microwave ion engine system of the Japanese asteroid sample return mission Hayabusa2.
Takanobu Shimada received his master degree of engineering from Tokyo University of Science, Japan, in 2007. He is an engineer at the Hayabusa2 project team, JAXA. His research interests include space electrical power system, spacecraft system, and deep space exploration mission.
Masanobu Ozaki received his Ph.D. degree in physics from Kyoto University, Japan, in 1997. He is an associate professor of the Department of Solar System Science, ISAS, JAXA. His major field is astrophysics, and has also worked for ISAS spacecraft missions—ASCA, Suzaku, Hayabusa, Hayabusa-2, Hitomi and MMX—instruments development, electrical design and operation.
Masanao Abe received his Ph.D. degree in science from University of Tokyo, Japan, in 2006. He is an associate professor at ISAS, JAXA. He is involved in the Hayabusa2 project as a supervisor of the operation. His research interest is planetary science.
Satoshi Hosoda received his Ph.D. degree in engineering from University of Tokyo, Japan, in 2003. He is a researcher at the Space Exploration Innovation Hub Eenter, JAXA. He is involved in the Hayabusa2 project as an ion thruster engineer and spacecraft operation supervisor. His research interests include plasma engineering, satellite charging, lunar ISRU, and deep space exploration.
Tatsuaki Okada received his Ph.D. degree in planetary science and instrumentation from the University of Tokyo, Japan, in 1996. He is an associate professor of the Department of Solar System Sciences, ISAS, JAXA. He is involved in the Hayabusa2 Project especially for the TIR, the Digital Electronics (DE), and the European small lander (MASCOT), as well as the spacecraft operation as one of the supervisors.
Hajime Yano received his Ph.D. degree in space science from the University of Kent at Canterbury in 1995. He is an assistant professor at ISAS, JAXA. After serving as the PI of the original Hayabusa sampler, he leads the microgravity experiments and planetary protection of the Hayabusa2 mission and is involved in the development and operation of its sampler, the MASCOT lander, and the small carry-on impactor. He also serves as a science team member, an operation supervisor, and a capsule retrieval team member of the mission. His expertise extends to solar system small body exploration science and astrobiology.
Takaaki Kato received his bachelor and master degrees in science from Tsukuba University in 2003, 2005, respectively. From 2005, he has been working as an engineer in NEC Aerospace Systems, Ltd.
Seiji Yasuda received his bachelor, master, doctor degrees in science from Tsukuba University in 2004, 2006, and 2009, respectively. From 2009, he has been working as an engineer in NEC Aerospace Systems, Ltd. and joined NEC Corporation in 2016.
Kota Matsushima received his bachelor and master degrees in engineering from Hokkaido University in 2007 and 2009, respectively. From 2009, he has been working as an engineer in space system development of NEC Corporation.
Tetsuya Masuda received his bachelor and master degrees in engineering from Kyoto University in 2009 and 2011, respectively. From 2011, he has been working as an engineer in space system development of NEC Corporation, and has been Hayabusa2 system manager since 2018.
Makoto Yoshikawa is an associate professor of ISAS/JAXA. He is the mission manager of Hayabusa2 project. He received his Ph.D. degree in astronomy at the University of Tokyo in 1989. After working as a researcher of JSPS (Japan Society for the Promotion of Science), he worked at former Communication Research Laboratory from 1991 as senior researcher. He joined ISAS as an associate professor in 1998. His research field is celestial mechanics, and he was involved many space missions such as GEOTAIL, HALCA, Nozomi, Hayabusa, Akatsuki, and IKAROS. He is now also working for planetary defense issues.
Yuichi Tsuda received his Ph.D. degree in aeronautics and astronautics from the University of Tokyo in 2003, and joined JAXA in 2003 as a research associate. He was a visiting scholar of the Deptartment of Aerospace Engineering, University of Michigan and the Deptartment of Aerospace Engineering Sciences, University of Colorado Boulder in 2008-2009. He was a deputy lead of the IKAROS project, the world’s first interplanetary solar sail mission. He is currently a professor of ISAS/JAXA and is also the project manager of the Hayabusa2, an asteroid sample-return mission. His research interests are astrodynamics, spacecraft system, and deep space exploration.
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Takei, Y., Saiki, T., Yamamoto, Y. et al. Hayabusa2’s station-keeping operation in the proximity of the asteroid Ryugu. Astrodyn 4, 349–375 (2020). https://doi.org/10.1007/s42064-020-0083-8
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DOI: https://doi.org/10.1007/s42064-020-0083-8