System and method for assisted extravehicular activity self-return

Patent metadata

Field	Value
Publication number	US-2017192425-A1
Application number	US-201615164264-A
Country	US
Kind code	A1
Filing date	May 25, 2016
Priority date	Jan 5, 2016
Publication date	Jul 6, 2017
Grant date	—

Abstract

A system and method for assisted EVA self-return is provided herein. The system estimates a crewmember's navigation state relative to a fixed location, for example on an accompanying orbiting spacecraft, and computes a guidance trajectory for returning the crewmember to that fixed location. The system may account for safety and clearance requirements while computing the guidance trajectory. According to at least one embodiment, the system actuates the crewmember's safety jetpack to follow the prescribed trajectory to the fixed location. In another embodiment, the system provides the crewmember with a directional cue (e.g., a visual, auditory, or tactile cue) corresponding to the prescribed trajectory back to the fixed location. The system may be activated by the crewmember or remotely by another crewmember and/or system.

First claim

What is claimed is:

1 . An EVA self-return system comprising:
a sensor configured to monitor a parameter of a suit; a navigation module in communication with the sensor, the navigation module configured to identify, based on parameter information received from the sensor, a current location of the suit in relation to a fixed reference point; a guidance module in communication with the navigation module, the guidance module configured to receive, in a self-return mode of operation, an indication of the current location of the suit from the navigation module and to compute, in the self-return mode of operation, a trajectory from the current location of the suit to the fixed reference point; an interface configured to be in communication with a propulsive system; and a control module in communication with the guidance module and configured to be in communication with the propulsive system via the interface, the control module further configured to transmit, in the self-return mode of operation, instructions to the propulsive system to operate the propulsive system to propel the suit to the fixed reference point along the trajectory received from the guidance module.

2 . The EVA self-return system of claim 1 , wherein the sensor comprises a gyroscope configured to monitor angular movement of the suit.

3 . The EVA self-return system of claim 1 , wherein the sensor comprises an accelerometer configured to monitor linear acceleration of the suit.

4 . The EVA self-return system of claim 1 , wherein the sensor comprises a vision+inertial sensor configured to measure angular movement of the suit, measure linear acceleration of the suit, capture visual images within a field of view of the vision+inertial sensor, and compensate the measured angular movement of the suit and the measured linear acceleration of the suit for drift based on the captured visual images.

5 . The EVA self-return system of claim 1 , wherein the sensor comprises a Global Positioning System (GPS) device configured to communicate with satellites within a line of sight of the GPS device and determine a relative position of the suit based on the communication with the satellites.

6 . The EVA self-return system of claim 1 , wherein the sensor comprises a Wi-Fi positioning system (WPS) configured to determine a relative position of the suit based on communication with a wireless access point.

7 . The EVA self-return system of claim 1 , wherein the sensor comprises a star tracker system configured to capture visual images of objects within a field of view of the star tracker system, compare the captured visual images of the objects to images of the objects previously stored in a database, and determine a relative position of the suit based on the comparison of the captured visual images of the objects to the previously stored images of the objects.

8 . The EVA self-return system of claim 1 , wherein the navigation module is in further communication with a suit system and is configured to initiate the self-return mode of operation in response to receiving a signal from the suit system.

9 . The EVA self-return system of claim 8 , wherein the suit system is a user control system and the navigation module is further configured to initiate the self-return mode of operation in response to receiving the signal from the user control system.

10 . The EVA self-return system of claim 8 , wherein the suit system is a communications system and the navigation module is further configured to initiate the self-return mode of operation in response to receiving the signal from the communications system.

11 . The EVA self-return system of claim 8 , wherein the suit system is a biomedical monitoring system and the navigation module is further configured to initiate the self-return mode of operation in response to receiving the signal from the biomedical monitoring system.

12 . The EVA self-return system of claim 1 , wherein the navigation module is in further communication with the control module and is further configured to:
determine, in the self-return mode, based on the parameter information received from the sensor, whether the suit is tumbling at a rotation rate; and in response to determining that the suit is tumbling at the rotation rate, instruct the control module to transmit instructions to the propulsive system that are configured to operate the propulsive system such that the rotation rate is nulled.

13 . The EVA self-return system of claim 1 , wherein in computing the trajectory from the current location of the suit to the fixed reference point, the guidance module is further configured to account for a predefined constraint.

14 . The EVA self-return system of claim 13 , wherein the predefined constraint includes at least one of a volumetric envelope of the suit, a safety requirement, an external clearance requirement, and a geometry of a vehicle including the fixed reference point.

15 . The EVA self-return system of claim 1 , wherein in computing the trajectory from the current location of the suit to the fixed reference point, the guidance module is further configured to account for a dynamic variable.

16 . The EVA self-return system of claim 15 , wherein the dynamic variable includes at least one of a remaining amount of fuel in the propulsive system and a remaining amount of oxygen in the suit.

17 . The EVA self-return system of claim 1 , wherein the propulsive system is a Simplified Aid for EVA Rescue (SAFER) system and the control module is further configured to transmit, in the self-return mode of operation, the instructions to the SAFER system via the interface.

18 . A method for EVA self-return, the method comprising:
monitoring a parameter of a suit; continuously identifying, with a navigation module based on the monitored parameter information, a current location of the suit in relation to the fixed reference point; initiating, in response to receiving a signal from a suit system, a self-return mode of operation; computing, in the self-return mode of operation with a guidance module, a trajectory from the current location of the suit to the fixed reference point; and transmitting, in the self-return mode of operation with a control module, instructions to a propulsive system coupled to the suit, the instructions configured to operate the propulsive system to propel the suit to the fixed reference point along the trajectory received from the guidance module.

19 . The method of claim 18 , further comprising:
determining, in the self-return mode of operation with the navigation module based on the monitored parameter information, whether the suit is tumbling at a rotation rate; and in response to determining that the suit is tumbling at the rotation rate, instructing the propulsive system to operate such that the rotation rate is nulled.

20 . The method of claim 18 , wherein computing the trajectory includes computing the trajectory from the current location of the suit to the fixed reference point while accounting for at least one predefined constraint.

21 . A self-return system comprising:
a sensor configured to monitor a parameter of a suit; a navigation module in communication with the sensor, the navigation module configured to identify, based on parameter information received from the sensor, a current location of the suit in relation to a fixed reference point; a guidance module in communication with the navigation module, the guidance module configured to receive, in a self-return mo

Assignees

• Charles Stark Draper Laboratory Inc

Inventors

• Duda Kevin R
• Loffi Richard W
• Handley Patrick Mark

Classifications

• G01C21/1656

  with passive imaging devices, e.g. cameras · CPC title

• G05D1/0061 Primary

  for transition from automatic pilot to manual pilot and vice versa · CPC title

• B64G6/00

  Space suits · CPC title

• G01C21/165

  combined with non-inertial navigation instruments · CPC title

• B64G4/00

  Tools specially adapted for use in space · CPC title