Convex Block-Cholesky Approach to Risk-Constrained Low-thrust Trajectory Design under Operational Uncertainty

摘要

Designing robust trajectories under uncertainties is an emerging technology that may represent a key paradigm shift in space mission design. As we pursue more ambitious scientific goals (e.g., multi-moon tours, missions with extensive components of autonomy), it becomes more crucial that missions are designed with navigation (Nav) processes in mind. The effect of Nav processes is statistical by nature, as they consist of orbit determination (OD) and flight-path control (FPC). Thus, this mission design paradigm calls for techniques that appropriately quantify statistical effects of Nav, evaluate associated risks, and design missions that ensure sufficiently low risk while minimizing a statistical performance metric; a common metric is Delta-V99: worst-case (99%-quantile) Delta-V expenditure including statistical FPC efforts. In response to the need, this paper develops an algorithm for risk-constrained trajectory optimization under operational uncertainties due to initial state dispersion, navigation error, maneuver execution error, and imperfect dynamics modeling. We formulate it as a nonlinear stochastic optimal control problem and develop a computationally tractable algorithm that combines optimal covariance steering and sequential convex programming (SCP). Specifically, the proposed algorithm takes a block-Cholesky approach for convex formulation of optimal covariance steering, and leverages a recent SCP algorithm, SCvx*, for reliable numerical convergence. We apply the developed algorithm to risk-constrained, statistical trajectory optimization for exploration of dwarf planet Ceres with a Mars gravity assist, and demonstrate the robustness of the statistically-optimal trajectory and FPC policies via nonlinear Monte Carlo simulation.