Autonomous satellite servicing missions must execute close-range rendezvous under stringent safety and operational constraints while remaining computationally tractable for onboard use and robust to uncertainty in sensing, actuation, and dynamics. This paper presents CORTEX (Convex Optimization for Rendezvous Trajectory Execution), an autonomous, perception-enabled, real-time trajectory design and guidance framework for close-range rendezvous. CORTEX integrates a deep-learning perception pipeline with convex-optimisation-based trajectory design and guidance, including reference regeneration and abort-to-safe-orbit logic to recover from large deviations caused by sensor faults and engine failures. CORTEX is validated in high-fidelity software simulation and hardware-in-the-loop experiments. The software pipeline (Basilisk) models high-fidelity relative dynamics, realistic thruster execution, perception, and attitude control. Hardware testing uses (i) an optical navigation testbed to assess perception-to-estimation performance and (ii) a planar air-bearing testbed to evaluate the end-to-end guidance loop under representative actuation and subsystem effects. A Monte-Carlo campaign in simulation includes initial-state uncertainty, thrust-magnitude errors, and missed-thrust events; under the strongest case investigated, CORTEX achieves terminal docking errors of $36.85 \pm 44.46$ mm in relative position and $1.25 \pm 2.26$ mm/s in relative velocity. On the planar air-bearing testbed, 18 cases are executed (10 nominal; 8 off-nominal requiring recomputation and/or abort due to simulated engine failure and sensor malfunctions), yielding terminal errors of $8.09 \pm 5.29$ mm in position and $2.23 \pm 1.72$ mm/s in velocity.

翻译：自主卫星在轨服务任务必须在严格的安全与操作约束下执行近距离交会，同时保持计算可行性以适应星载应用，并对感知、执行与动力学中的不确定性具备鲁棒性。本文提出CORTEX（用于交会轨迹执行的凸优化框架），这是一种面向近距离交会的、具备感知能力的自主实时轨迹设计与制导框架。CORTEX将深度学习感知流程与基于凸优化的轨迹设计及制导相结合，包含参考轨迹再生与安全轨道中止逻辑，以应对由传感器故障和发动机失效导致的大幅偏差。CORTEX通过高保真软件仿真与硬件在环实验进行了验证。软件流程（Basilisk）模拟了高保真相对动力学、真实推力器执行、感知与姿态控制。硬件测试采用（i）光学导航测试平台评估感知至估计性能，以及（ii）平面气浮测试平台在典型执行机构与子系统效应下评估端到端制导回路。仿真中的蒙特卡洛实验涵盖了初始状态不确定性、推力幅值误差与推力失效事件；在所研究的最严苛工况下，CORTEX实现了相对位置 $36.85 \pm 44.46$ mm 与相对速度 $1.25 \pm 2.26$ mm/s 的终端对接误差。在平面气浮测试平台上，执行了18组实验（10组标称工况；8组非标称工况因模拟发动机故障与传感器失灵需重新计算和/或中止），获得位置 $8.09 \pm 5.29$ mm 与速度 $2.23 \pm 1.72$ mm/s 的终端误差。