Enhancing Relative Attitude and Trajectory Estimation for Autonomous Rendezvous Using Flash LIDAR

McMahon, Jay W.; Gehly, Steve; Axelrad, Penina

doi:10.2514/6.2014-4359

Cited by 7 publications

(8 citation statements)

References 5 publications

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“…Usually stereovision [8][9][10][11][12][13][14], monocular vision, and lidar (light detection and ranging) [15,16] sensors are used in space applications. Lidar can provide accurate, high-resolution distance measurements but has the drawbacks of substantial mass, power consumption, and cost.…”

Section: Introductionmentioning

confidence: 99%

Rectangular-structure-based pose estimation method for non-cooperative rendezvous

2018

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Pose estimation for spacecraft is widely recognized as an important technology for space applications. Many space missions require accurate relative pose between the chaser and the target spacecraft. Stereovision is a usual mean to estimate the pose of non-cooperative targets during proximity operations. In this paper, an accurate algorithm for pose estimation is proposed by taking advantage of the geometric structure of the object. With stereo cameras, our approach employs the corners of the solar panel as features and uses bundle adjustment to improve the accuracy. Simulation results demonstrate that our method improves the precision and robustness for non-cooperative spacecraft pose estimation. Our laboratory experiments further validate the approach. The results show that the rotation angle error of our method is within 0.8°, and the measurement error in translation is less than 0.4% at the distance from 3 m to 1.2 m.

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Section: Introductionmentioning

confidence: 99%

Rectangular-structure-based pose estimation method for non-cooperative rendezvous

2018

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“…Pose estimation is the process of estimating relative attitude and position, which depends on largely on the type of sensor. Usually stereo vision [ 6 , 8 , 9 , 10 ], monocular vision [ 11 , 12 , 13 ] and LIDAR (light detection and ranging) [ 4 , 7 , 14 , 15 , 16 , 17 , 18 , 19 ] sensor are the sensor types used in space applications. Stereo vision approaches provide measurements of high accuracy at a high rate, but their working distance is limited to the baseline and the computational requirements increase with the increase of resolution.…”

Section: Introductionmentioning

confidence: 99%

Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

Liu

Zhao

2016

Sensors

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Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective.

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“…The relative orbit determination was carried out by processing chaser-to-target range and bearing data as observed by a scanning LIDAR instrument [2]. In [3], a study on the use of flash LIDAR for relative pose and trajectory estimation was presented, and the close approach results were focused on processing feature based tracking into relative attitude and translation measurements. J. F. Shi uncooperative target, using a single infrared camera and a simple three-dimensional model of the target [4].…”

Section: Introductionmentioning

confidence: 99%

Design of real-time measurement system with Vision/IMU for close-range semi-physical rendezvous and docking simulation

Chu

et al. 2016

2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)

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Design of a real-time measurement system based on information fusion of Vision Measurement Unit (VMU) and Inertial Measurement Unit (IMU) is proposed for a semi-physical simulation system. Main contributions of the paper are the design and application of VMU-IMU integration to the real-time simulation of close-range rendezvous and docking (RVD) in lunar orbit. Structure and each component of the system are presented. The pose (position and attitude) filters utilized for information fusion within Kalman filter (KF) framework are designed, which regard Hill equations and quaternion differential equations as process models respectively and choose relative pose of two spacecraft as measure variables. Capabilities of the real-time measurement system are demonstrated by semi-physical closed-loop simulations, which show the proposed system yields more precise navigation result and more effective preservation of energy than an independent VMU.

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Enhancing Relative Attitude and Trajectory Estimation for Autonomous Rendezvous Using Flash LIDAR

Cited by 7 publications

References 5 publications

Rectangular-structure-based pose estimation method for non-cooperative rendezvous

Rectangular-structure-based pose estimation method for non-cooperative rendezvous

Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

Design of real-time measurement system with Vision/IMU for close-range semi-physical rendezvous and docking simulation

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