Orbital Robotics & Distributed Space
Systems Final Project
Giuseppe Governale, Armando Pastore, Christian Bellinazzi,
Erica Scantamburlo
April 17, 2025
Dynamics Modeling of a Space Debris Removal Mission: Part 1
DISCLAIMER: This is the assignment of final project for the course of ”Orbital
Robotics & Distributed Space Systems”. More details regarding some of the assignments
will be delivered in the next weeks.
1 Assumptions
Consider a debris removal mission in the Earth environment, defined by the following
initial conditions (see Fig. 1) and constraints:
• The spacecraft S/C moves on an initial circular and equatorial orbit, with altitude
h1 = 600 km and radius R1 .
• The non-cooperative target (like a space debris denoted by D) is located on a
second circular and equatorial orbit, with estimated altitude of h2 = 300 km and
radius R2 .
• Consider an initial phasing angle ϕ0 between the two orbiting objects of 10◦ .
2 Assignments [8 pts + 2 bonus]
PART 1 [max 2 pt], Orbital transfer to debris position: Analytically compute
the minimum change of velocity ∆V required to perform a two-impulse transfer from
the satellite initial position to the debris state. Evaluate the time of flight and plot the
three orbits describing the maneuver. Consider an initial phasing between the space-
craft and the debris. Propagate numerically the relative equations of motion and verify
that the trajectory is the one obtained through the analytical solution (up to a reason-
able error). Plot the time evolution of the constants of motion of the Kepler problem
during the all transfers.
PART 2 [max 2 pt], Relative dynamics final approach: Let us consider a realistic
1
Fig. 1: Orbiting S/C and debris D around the Earth
scenario in which the artificial satellite does not perform a perfect rendezvous (i.e., the
relative distance between the spacecraft and the debris is not zero). To quantify this
displacement, let us assume that a random error in the final position of the satellite at
the end of the transfer (performed in Part 1) is achieved. In particular, let us consider
an error in the in-plane direction, both in terms of position (500 ÷ 1000) m and velocity
(5 ÷ 10) m/s [use randn() Matlab function]. Perform a final approach with an analyti-
cal solution, quantifying the required change of in the velocity ∆V , and time of flight
∆T . Then, propagate numerically the relative equations of motion. Finally, through a
Matlab script, verify that the trajectory obtained via the numerical integration equals
(up to a reasonable error) the trajectory obtained through the analytical formulation.
PART 3 [max 2 pts], Perturbations (MORE DETAILS WILL COME): Eval-
uate the effect of the perturbations on the rendezvous. In particular, by applying the
same analytical ∆V found in PART 2, propagate the equations of motions, adding the
effect of some perturbations and find the final offset, in terms of both position and
velocity with respect to the desired final state.
PART 4 [max 2 pts], Robotic Manipulator (MORE DETAILS WILL COME):
PART 5 (Bonus and Optional) [max 1 pt each (in addition to the total 11)]:
• Identify a possible debris retrieval/de-orbiting technology and describe character-
istics, main requirements, and implications on the spacecraft dynamics.
• In the same scenario of PART 2, evaluate the required ∆V that is necessary to
reach the debris in presence of the aforementioned orbital disturbances.
2
3 Report [3 pts]
The report will be graded on a scale from 0 to 3 points. Each group must inter-
nally decide a Team Leader for the final project delivery. Specifically, a clear and infor-
mative [Link] file (with format #NumberGroup [Link]) is
needed, explaining all MATLAB codes and working features, evaluated for a maximum
of 0.5 points. This evaluation will also take into account the quality and clarity of the
adopted methodology, readability and labeling of figures and plots, correct use of units
of measurement and the overall organization of the document.