Design, Development, and Testing of Embedded Computing on AFIT's Control and Autonomy Space Proximity Robot (CASpR)
[Technical Report, Master's Thesis]
AIR FORCE INSTITUTE OF TECHNOLOGY WRIGHT-PATTERSON AFB OH
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This thesis reviews RPO algorithm testbeds and discusses the development of the Control and Autonomy Space proximity Robot CASpR kinematic testbed housed at the Air Force Institute of Technology AFIT. CASpR operates on a rail systemto propagate the trajectories of two satellites using the Hill-Clohessy-Wiltshire HCW Equations of Motion EOMs. In this study, the implementation of a Jetson TX2i as an onboard flight computer is discussed and accomplished. Each hardwarecomponent used in the process of adding embedded computing as well as the software and paths of communication are all discussed in detail. Tests are conducted to assess the reliability of CASpR and the embedded computer.