Spaceborne Autonomous Formation-Flying Experiment on the PRISMA Mission
Abstract
The Prototype Research Instruments and Space Mission Technology Advancement (PRISMA) represents the first \nEuropean technology demonstration of formation-flying and on-orbit-servicing techniques. Several hardware and \nsoftware experiments, either at subsystem or system levels, have been successfully conducted since the launch of the \ndual-satellite mission in June 2010. This paper describes the guidance, navigation, and control functionalities and \npresents key flight results from the so-called Spaceborne Autonomous Formation-Flying Experiment (SAFE) \nexecuted in September 2010 and March 2011 as one of the primary PRISMA mission objectives. SAFE is intended to \ndemonstrate autonomous acquisition, keeping, and reconfiguration of passive relative orbits for advanced remotesensing \nand rendezvous applications. As shown in the paper, the onboard Global Positioning System navigation \nsystem provides relative orbit information in real time with an accuracy better than 10 cm and 1 mm=s (threedimensional, \nroot mean square) in position and velocity, respectively. The impulsive formation control achieves \naccuracies better than 10m(three-dimensional, root mean square) for separations below 2 km with minimum usage \nof thrusters, ensuring high predictability for simplified mission operations and minimum collision risk for increased \nsafety.
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The ESA & Stanford benchmark dataset (SPEED) contains both synthetic and real images of a mockup model of one satellite used in a flight mission, named PRISMA.
“The latter contains both synthetic and real images with 1920 × 1200 px, generated in [29], of a mockup model of one satellite used in a flight mission, named PRISMA [44].”
From Deep Learning for Spacecraft Pose Estimation from Photorealistic Rendering (2020) · cites this paper as [44]
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Self-citationRobust image-based coordinated control for spacecraft formation flying
Da-yong, H., Zhao, X., & Zhang, S. (2021) · Chinese Journal of Aeronautics · doi:10.1016/j.cja.2021.10.020 · Cited by 15 · see citing works
Virtual Formation Method for Precise Autonomous Absolute Orbit Control
Florio, S. D., D’Amico, S., & Radice, G. (2014) · Journal of Guidance Control and Dynamics · doi:10.2514/1.61575 · Cited by 15 · see citing works
Self-citationSpacecraft Fast Fly-Around Formations Design Using the Bi-Teardrop Configuration
Zhang, R., Han, C., Rao, Y., & Yin, J. (2018) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g003236 · Cited by 15 · see citing works
Time-varying transformations for Hill–Clohessy–Wiltshire solutions in elliptic orbits
Sherrill, R. E., Sinclair, A. J., Sinha, S. C., & Lovell, T. A. (2014) · Celestial Mechanics and Dynamical Astronomy · doi:10.1007/s10569-014-9543-x · Cited by 15 · see citing works
Benefits of plenoptic cameras for robot vision during close range on-orbit servicing maneuvers
Lingenauber, M., Strobl, K. H., Oumer, N. W., & Kriegel, S. (2017) · IEEE Aerospace Conference (AERO) · doi:10.1109/aero.2017.7943666 · Cited by 15 · see citing works
Ionospheric Drag for Satellite Formation Control
Smith, B., Capon, C., & Brown, M. (2019) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g004404 · Cited by 14 · see citing works
Garzón, U. E. N., & Lightsey, E. G. (2022) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g005744 · Cited by 14 · see citing works
Optimal impulsive closed-form control for spacecraft formation flying and rendezvous
Riggi, L., & D’Amico, S. (2016) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.1109/acc.2016.7526587 · Cited by 14 · see citing works
Self-citationBounded Relative Orbits in the Zonal Problem via High-Order Poincaré Maps
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Formation dynamics in geostationary ring
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One active debris removal control system design and error analysis
Wang, W., Chen, L., Li, K., & Lei, Y. (2016) · Acta Astronautica · doi:10.1016/j.actaastro.2016.07.037 · Cited by 12 · see citing works
Analytical approach to spacecraft formation-flying with low-thrust relative spiral trajectories
Willis, M., & D’Amico, S. (2018) · Acta Astronautica · doi:10.1016/j.actaastro.2018.02.002 · Cited by 12 · see citing works
Self-citationGPS-Based Spaceborne Autonomous Formation Flying Experiment (SAFE) on PRISMA: Initial Commissioning
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Self-citationAnalysis of Precise Orbit Determination for the HY2D Satellite Using Onboard GPS/BDS Observations
Peng, H., Zhou, C., Zhong, S., Peng, B., Zhou, X., Yan, H., Zhang, J., Han, J., Guo, F., & Chen, R. (2022) · Remote Sensing · doi:10.3390/rs14061390 · Cited by 11 · see citing works
Algorithm of Relative Lambert Transfer Based on Relative Orbital Elements
Chen, H., Han, C. S., Rao, Y., Yin, J., & Sun, X. (2019) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g003348 · Cited by 11 · see citing works
Wang, J., Ren, Y., Zeng, Q., Zhang, C., & Zhang, J. (2024) · Aerospace Science and Technology · doi:10.1016/j.ast.2024.109237 · Cited by 10 · see citing works
Precise Autonomous Orbit Maintenance of a Low Earth Orbit Satellite
Bolandi, H., & Abrehdari, S. (2018) · Journal of Aerospace Engineering · doi:10.1061/(asce)as.1943-5525.0000823 · Cited by 10 · see citing works
Montenbruck, O. (2017) · Springer eBooks · doi:10.1007/978-3-319-42928-1_32 · Cited by 10 · see citing works
Flight Demonstration of Non-Cooperative Rendezvous using Optical Navigation
D’Amico, S., Ardaens, J.-S., Gaias, G. V. M., Schlepp, B., Benninghoff, H., Tzschichholz, T., Karlsson, T., & Jørgensen, J. L. (2012) · elib (German Aerospace Center) · Cited by 10 · see citing works
Self-citationXu, C., Zhang, C., & Wang, J. (2025) · Aerospace Science and Technology · doi:10.1016/j.ast.2025.110402 · Cited by 9 · see citing works
Closed form parametric solutions of nonlinear Abel-type and Riccati-type spacecraft relative motion
Ogundele, A. D., Sinclair, A. J., & Sinha, S. C. (2020) · Acta Astronautica · doi:10.1016/j.actaastro.2020.10.009 · Cited by 9 · see citing works
Manoeuvre planning algorithm for satellite formations using mean relative orbital elements
Miñan, A. M., Scala, F., & Colombo, C. (2022) · Advances in Space Research · doi:10.1016/j.asr.2022.09.043 · Cited by 9 · see citing works
A pareto-optimal characterization of miniaturized distributed occulter/telescope systems
Koenig, A. W., D’Amico, S., Macintosh, B., & Titus, C. J. (2015) · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · doi:10.1117/12.2187324 · Cited by 9 · see citing works
Self-citationSun, X., Han, C. S., & Chen, P. (2017) · Advances in Space Research · doi:10.1016/j.asr.2017.06.052 · Cited by 9 · see citing works
Bounded Relative Orbits in the Zonal Gravitational Field for Formation Flying
He, Y., & Xu, M. (2018) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g003107 · Cited by 9 · see citing works
Satellite Formation Flying and Rendezvous
D’Amico, S., & Carpenter, J. R. (2020) · doi:10.1002/9781119458555.ch63 · Cited by 9 · see citing works
Self-citationSpacecraft Formation Keeping and Reconfiguration Using Optimal Visual Servoing
Pomares, J., Felicetti, L., Garcia, G. J., & Ramón, J. (2024) · The Journal of the Astronautical Sciences · doi:10.1007/s40295-024-00439-6 · Cited by 8 · see citing works
The design of observers for formation-flying control
Blažič, S., Matko, D., Rodič, T., Dovžan, D., Mušič, G., & Klančar, G. (2012) · Acta Astronautica · doi:10.1016/j.actaastro.2012.04.035 · Cited by 8 · see citing works
New Closed-Form Solutions for Optimal Impulsive Control of Spacecraft Relative Motion
Chernick, M., & D’Amico, S. (2016) · AIAA/AAS Astrodynamics Specialist Conference and Exhibit · doi:10.2514/6.2016-5659 · Cited by 8 · see citing works
Self-citationARTMS: Enabling Autonomous Distributed Angles-Only Orbit Estimation for Spacecraft Swarms
Koenig, A. W., Kruger, J., Sullivan, J., & D’Amico, S. (2021) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc50511.2021.9483242 · Cited by 8 · see citing works
Self-citationDetermination and Estimation of Differential Mean Orbital Elements for Formation-Flying Missions
Wang, K., Chen, T., & Xu, S. (2013) · Journal of Guidance Control and Dynamics · doi:10.2514/1.61623 · Cited by 8 · see citing works
Low, S. Y. W., & D’Amico, S. (2024) · IEEE Aerospace Conference (AERO) · doi:10.1109/aero58975.2024.10521084 · Cited by 7 · see citing works
Self-citationEnd-to-end active non-cooperative target tracking of free-floating space manipulators
Lei, W., & Sun, G. (2023) · Transactions of the Institute of Measurement and Control · doi:10.1177/01423312231177778 · Cited by 7 · see citing works
Tancredi, U., Renga, A., & Grassi, M. (2013) · Acta Astronautica · doi:10.1016/j.actaastro.2013.07.029 · Cited by 7 · see citing works
Radio Frequency sensor fusion for relative navigation of formation flying satellites
Alba, G. A., D', S., Amico, N. A., & Montenbruck, O. (2015) · International Journal of Space Science and Engineering · doi:10.1504/ijspacese.2015.072333 · Cited by 6 · see citing works
Shepherdson, E., de Ruiter, A. H. J., & Liu, G. (2023) · Advances in Space Research · doi:10.1016/j.asr.2023.11.018 · Cited by 6 · see citing works
Xu, C., Zhang, C., & Wang, J. (2024) · Acta Astronautica · doi:10.1016/j.actaastro.2024.11.024 · Cited by 6 · see citing works
Nonlinear adaptive angle-only relative navigation on perturbed eccentric orbits
Chihabi, Y., & Ulrich, S. (2024) · Acta Astronautica · doi:10.1016/j.actaastro.2024.12.012 · Cited by 6 · see citing works
On the Safety of Multiple Satellite Formations for Synthetic Aperture Radar Applications
Scala, F., Peixoto, M. N., Krieger, G., & Villano, M. (2024) · Journal of Guidance Control and Dynamics · doi:10.2514/1.g008407 · Cited by 6 · see citing works
SILVIA: Ultra-precision formation flying demonstration for space-based interferometry
Ito, T., Izumi, K., Kawano, I., Funaki, I., Sato, S., Akutsu, T., Komori, K., Musha, M., Michimura, Y., Satoh, S., et al. (2025) · Publications of the Astronomical Society of Japan · doi:10.1093/pasj/psaf086 · Cited by 6 · see citing works
- Authors
- D'Amico, S., Ardaens, J.-S., & Larsson, R.
- Affiliations
- DLR, German Aerospace Center, 82234 Wessling, Germany
- Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR) (DE)
- OHB Sweden, 171 22 Solna, Stockholm, Sweden
- Venue
- Journal of Guidance, Control, and Dynamics
- Published
- 2012-05
- Volume
- 35
- Issue
- 3
- Pages
- 834-850
- ISSN
- 0731-5090 (ISSN-L)
- 1533-3884
- OpenAlex
- W2146931989
- Cited by
- 173
- References
- 44
- Citations by year
- 2026: 13 · 2025: 12 · 2024: 14 · 2023: 7 · 2022: 12 · 2021: 12 · 2020: 11 · 2019: 10 · 2018: 23 · 2017: 11 · 2016: 13 · 2015: 9 · 2014: 13 · 2013: 6 · 2012: 5
- FWCI
- 17.75
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Journal of Guidance Control and Dynamics (publishedVersion)
- elib (German Aerospace Center) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Spacecraft Dynamics and Control
- Physical Sciences › Engineering › Aerospace Engineering › Space Satellite Systems and Control
- Physical Sciences › Engineering › Aerospace Engineering › Spacecraft Design and Technology
- Keywords
- PRISMA mission, on-orbit servicing, relative orbit determination, satellite rendezvous, guidance, navigation and control, collision avoidance
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