CETACEAN: Autonomous and Modular Onboard Relative Navigation Software for On-Orbit Proximity Operations & Docking

A robust relative navigation software capability is a key enabler of all RPOD missions, and therefore an essential technology to unlock ISAM capabilities. There are two areas of development that are needed to advance relative navigation towards onboard autonomous viability: 1) Improvement of machine vision and image processing performance in spaceflight applications and 2) Development of a navigation filter architecture that can fuse machine vision measurements with a combination of sensor types to enable flight software and hardware modularity. Starfish Space is continuing development of CETACEAN, a relative navigation software package designed to autonomously and reliably determine the relative state between two spacecraft given customizable combinations of onboard sensors. Specifically, CETACEAN will offer the ability to estimate accurate position, velocity, attitude, and rotation rate information. In this Phase II, Starfish Space proposes to mature CETACEANs image processing algorithms using actual imagery gathered from an in-space mission. This imagery will be used to create a Vision-in-the Loop (VIL) system for continued CETACEAN development. The initial purpose of this VIL system is to provide a controlled environment for CETACEAN to ingest this imagery and conduct full end-to-end testing of the relative navigation hardware and software Training on the authentic in-space imagery represents a significant step forward, as the machine vision techniques used in CETACEAN have not yet been applied in space at scale. CETACEAN is a relative navigation software system that enables a low SWaP-C spacecraft architecture, which introduces affordability and flexibility for in-space docking and a host of NASA and commercial missions. The ability to easily swap out different sensors and update sensor processing filters will allow organizations like NASA to customize and design spacecraft to meet mission needs. Existing navigation state determination systems do not specialize in modern RPOD and ISAM needs, and heritage capabilities are constrained by outdated technology — often limited to tightly integrated software and hardware elements that are only compatible with each other. In contrast, CETACEAN can be used as a plug-and-play solution by any company/organization and any spacecraft, and can run on a variety of software stacks. It can also leverage state-of-the-art capabilities already developed by NASA. CETACEAN also enables successful autonomous relative navigation in natural sun-lit conditions, and eliminates reliance on visual fiducials for docking. Objectives: 1: Refine the capability and performance of the CETACEAN satellite proximity operations relative navigation software 2: Execute a version of CETACEAN relative navigation software in space onboard the Otter Pup proximity operations testbed 3: Design and assemble a prototype Vision-in-the-Loop (VIL) testbed for testing CETACEAN with flight-like camera and processing hardware in a laboratory environment 4: Use the VIL testbed with synthetic and in-space imagery to evaluate and improve the CETACEAN pipeline Deliverables: Deliverables will include producing a concept of operations document detailing plans for the testing to be performed in this effort. All testing will be documented and presented to NASA customer in a series of technical interchange meetings. Starfish Space will hold an in-person Flight Readiness Review (FRR) with NASA customer, detailing work performed, and which will include a data package that demonstrates appropriate level of confidence in safe mission performance. Other information presented to NASA includes results of in-space testing (post-test analysis report), summaries of the Vision-in-the-Loop (VIL testbed & testing results. Finally, Starfish Space will build a list of potential missions and/or demonstrations where NASA could utilize CETACEAN in the next 1-3 years. Such missions could be candidates for a follow-on NASA Phase III SBIR contract.

Starfish Space has held discussions with NASA regarding application of CETACEAN to the following missions: On-orbit inspection of the ISS or crewed spacecraft; Approach and positioning for assembly of elements, delivery, repair, and inspection for Gateway logistics/assembly; Enabling safe approach for station keeping, repairing, upgrading, or refueling of NASA science satellites; Relative navigation for Hubble for boost or end-of-life. Further applications are detailed in Table 1 of the technical volume. Autonomous relative navigation enables commercial missions: inspection, servicing and life extension, logistics, assembly, manufacturing, and space debris removal , and has potential to unlock a new layer of the in-space economy. Commercial satellite operators are interested in life extension in GEO and end-of-life disposal in LEO, provided by CETACEAN-enabled Otter satellite servicer.

This is early/mid-stage (TRL 5) — 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.

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