Multi-Target Tracking using Random Finite Sets for Rendezvous and Proximity Operations with Non-Gaussian Uncertainties

This program will develop an innovative Random Finite Set (RFS)-theory-based software tool for Multi-Target Tracking (MTT), using measurement filtering methods that include the Sequential Monte Carlo Generalized Labeled Multi-Bernoulli (SMC-GLMB), Student#39;s t-Mixture GMLB (STM-GLMB), and Joint-GLMB.nbsp;These MTT methods enable classification and accurate tracking of objects within the field-of-view of spacecraft, including a target spacecraft for rendezvous, secondary spacecraft in vicinity, and orbital debris. In this program, ASTER Labsrsquo; team will enhance RFS-based algorithms that will improve the reliability and efficiency of sensor measurement gathering, object classification, and target tracking, even in the presence of high levels of non-Gaussian noise. The newly developed RFS-MTT Toolset will integrate the RFS-based filters with Clohessy-Wiltshire-Hill, Tschauner-Hempel, and Karlgaard relative orbital dynamics equations, vehicle attitude, sensor and uncertainty models, and non-Gaussian noise-generation methods to form a full software package for simulation and analytical purposes. Orbital trajectory data featuring multiple rendezvous maneuvers will be utilized along with high-fidelity noise, disturbance, birth, and clutter to create additional measurement uncertainty. This data will be processed via the developed RFS-MTT Toolset to confirm fidelity of the processing techniques models, and verify the systemrsquo;s ability to effectively track multiple targets in environments with high clutter and high sensor noise. Phase II will expand thenbsp;RFS-MTT Toolset and associated algorithms for software simulations and performance assessment in orbital spacecraft rendezvous and proximity operations. The RFS-MTT Toolset will be incorporated into the full SWARM Toolset and evaluate this functionality for eventual incorporation into NASArsquo;s software tools, e.g. GEONS, MONTE. Hardware demonstrations will with wheeled vehicles and UAVs be performed and presented to NASA.