The E-Rocket: Low-cost Testbed for TVC Rocket GNC Validation
Provides an accessible platform for researchers to test rocket GNC algorithms without expensive hardware, though it is an incremental engineering contribution.
The paper introduces the E-Rocket, a low-cost electric rocket testbed for validating Thrust Vector Control-based GNC algorithms, demonstrating accurate trajectory tracking with a PID controller in indoor tests.
This paper presents the E-Rocket, an electric-powered, low-cost rocket prototype for validation of Guidance, Navigation & Control (GNC) algorithms based on Thrust Vector Control (TVC). Relying on commercially available components and 3D printed parts, a pair of contra-rotating DC brushless motors is assembled on a servo-actuated gimbal mechanism that provides thrust vectoring capability. A custom avionics hardware and software stack is developed considering a dual computer setup which leverages the capabilities of the PX4 autopilot and the modularity of ROS 2 to accommodate for tailored GNC algorithms. The platform is validated in an indoor motion-capture arena using a baseline PID-based trajectory tracking controller. Results demonstrate accurate trajectory tracking and confirm the suitability of the E-Rocket as a versatile testbed for rocket GNC algorithms.