Ground-based low altitude hovering technique of Hayabusa2
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https://doi.org/10.1007/s42064-020-0082-9
Ground-based low altitude hovering technique of Hayabusa2 Yuya Mimasu (), Kent Yoshikawa, Go Ono, Naoko Ogawa, Fuyuto Terui, Yuto Takei, Takanao Saiki, and Yuichi Tsuda Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Sagamihara 252-5210, Japan
ABSTRACT
KEYWORDS
The asteroid explorer Hayabusa2 carries multiple rovers and separates them to land on
Hayabusa2
an asteroid surface. One of these rovers, called MASCOT, was developed under the
MASCOT
international cooperation between the Deutsches Zentrum f¨ ur Luft- und Raumfahrt and
low altitude hovering
the Centre National d’Etudes Spatiales. This rover was designed to be separated to land
guidance, navigation, and control (GNC)
and perform several missions on an asteroid surface. To support these missions, the mother ship Hayabusa2 must separate this rover at a low altitude of approximately 50 m and hover at approximately 3 km after separation to achieve are liable communication link with
Research Article
MASCOT. Because the on-board guidance, navigation, and control (GNC) does not have
Received: 31 January 2020
an autonomous hovering function, this hovering operation is performed by ground-based
Accepted: 11 April 2020
control. This paper introduces the GNC operation scheme for this hovering operation and
© Tsinghua University Press
2020
reports on its flight results.
1
Introduction
The asteroid explorer Hayabusa2 was launched by the Japan Aerospace Exploration Agency (JAXA) on December 3, 2014. The primary mission of this spacecraft is to sample pieces of asteroid [1, 2], and return them to the Earth for more advanced scientific analyses on the ground. After more than three years of cruise phase, Hayabusa2 finally arrived at the asteroid Ryugu on June 27, 2018, as illustrated in Fig. 1, and mission operations began. An overview of the entire mission and the results of the proximity phase are summarized in Ref. [3]. Furthermore, the results of scientific missions are summarized in Ref. [4]. Hayabusa2 carries multiple rovers and separates them to land on an asteroid surface. One of these rovers, called MASCOT, was developed under the international cooperation between the Deutsches Zentrum f¨ ur Luftund Raumfahrt and the Centre National d’Etudes Spatiales. This rover was designed to be separated to land and perform several missions on an asteroid surface. To support this mission, the mother ship Hayabusa2 must separate this rover at a low altitude of approximately
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50 m and hover at an altitude of 3 km after the separation to achieve a reliable communication link with MASCOT. Figure 2 shows the details of the series of events for this operation. Hayabusa2 starts descending at an altitude of 20 km from the surface of Ryugu and releases MASCOT after 140 s when triggered by an altitude of 60 m as measured by light detection and ranging (LIDAR). After the separation of MASCOT, Hayabusa2 ascends to an altitude of approximately 3 km from the surface and star
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