← Back to NASA Technology Projects
Completed TRL 4 (started at 4, targeting 6)
Project Objective
This project supports the integration and demonstration of the Smartphone Video Gudiance Sensor (SVGS) in formation flight maneuvers using Astrobee, NASA’s free flying robots on ISS.
Project Description
The main objectives of this project are:
This project is funded through a Collaborative Agreement Notice (CAN) and is a collaboration between Marshall Space Flight Center (MSFC) and Florida Institute of Technology (FIT). MSFC has developed the SVGS technology, which is a “smartphone” application with the power of a space-grade relative navigation sensor. SVGS comprises two systems - a target made up of markers (LED or retroreflectors) in a known pattern and a camera. That camera images the target, and through the use of photogrammetry and an optimization algorithm, can calculate the relative position and orientation between the camera and target. This technology has cross-cutting applications in rendezvous, proximity operations, and capture (RPOC) missions; entry, descent and landing (EDL) missions, and GPS-denied surface navigation.
Through previous efforts, the SVGS technology has been ported to the high level processor on the Astrobee robot. This project integrates SVGS a step deeper in the GNC stack of Astrobee, integrating SVGS measurements within the native navigation software of Astrobee. This allows SVGS measurements to be used in conjunction with standard Astrobee localization sensors when determining the absolute position/orientation in inertial space and the relative position/orientation between Astrobee units.
Project Results and Conclusions
This project is still currently on-going and has been awarded a one-year no-cost extension. Accomplishments during this year include the development of software integrating SVGS functionality within the Astrobee middle level processor, experiment design to stress the SVGS capabilities in realistic formation flight scenarios, and coordination to manifest hardware (SVGS targets) on ISS. ISS experiments are expected to start in 2025.
This project satisfies a number of agency-level and center-level needs and aligns well with several different objectives in the technical roadmap for the agency and center. A key area MSFC is interested in investing resources is in Autonomous Systems and Robotics (ASR), for which this project advances the state-of-the-art of. ASR will be crucial in the development of space transportation vehicles, which will likely be uninhabited for long periods of time. All the maintenance, inspection, and upkeep activities will need to be automated, with little human interaction “in-the-loop.” Teams of autonomous systems, both in the intravehicular and extravehicular domain, will be required to supplant human activities. The methodology of how to perform relative localization of these systems, potentially within a confined volume, is still an open question.
This projects helps address this need by integrating a novel localization method within a robotic platform manifested on the Internal Space Station – Astrobee. Astrobees are six degree-of-freedom (6DOF) robots that are used to conduct formation flight experiments within the habitable volume of the ISS. They are the next generation evolution of the Synchronized Position Hold Reorient Experimental Satellites (SPHERES) platform, which served a similar role on ISS. This project integrates the relative orientation and position solution from multiple Astrobee units using the Smart Video Guidance Sensor (SVGS) within the Astrobee vision-based navigation system to supplement the current localization methodology. This would lead to a more accurate relative position and orientation solutions, which are required for successful formation flight and proximity operation missions.
Viability of utilizing SVGS on Astrobee was demonstrated in a previous 2020 STTR, where SVGS was used to perform waypoint following on multiple Astrobee units. Multiple successful experiments were conducted where the SVGS solution was used to command Astrobees to hold in different positions and at different attitudes. However, the SVGS solution was “out-of-the-loop” in the localization algorithm. Due to limitations in the localization algorithm design, the position estimate suffered when one Astrobee was in the field-of-view of the camera of another. Integrating the SVGS solution would remedy this issue.
MSFC has invested resources in advancing the SVGS technology, as it is directly applicable to “Sensors that enabled automated guidance, such as smart video” called out in the ASR topic in the FY23 NOFO CAN call. SVGS produces the relative position and orientation solution between two systems, which enables automated guidance. This project will continue to mature the SVGS technology in the intravehicular domain, while also providing valuable information of the SVGS technology in the 6DOF domain. This provides insight in SVGS accuracy and performance for a larger number of use cases, including formation flight of small sats; trusted autonomy for servicing, refueling, and maintenance; and autonomous control systems that operate in low-light conditions.
This proposal also aligns well with several 2020 NASA Technology Taxonomy topics, including TX04.5.1 Relative Navigation Sensors, TX17.2.3 Navigation Sensors, TX17.2.4 Relative Navigation Aids, and TX 17.2.5 Rendezvous, Proximity Operations, and Capture Sensor Processing and Processors.
In short, this project has direct applicability to the following areas of interest:
Listed on TechPort itself — the most direct way to ask about this specific project.
This is early/mid-stage (TRL 4) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.
None of these are guaranteed paths for this specific project — TechPort itself doesn't have an "apply" button. Reaching out to the contact(s) above with a specific question is usually the fastest way to find out what's actually open.