Relative pose estimation of satellites using PMD-/CCD-sensor data fusion

Tzschichholz, Tristan; Boge, Toralf; Schilling, Klaus

doi:10.1016/j.actaastro.2014.12.010

Cited by 42 publications

(16 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The detected edges are marked with orange color. PMD image can be interpreted as 3D image; instead of a 2D line-t a 3D plane-t has been performed to estimate the pose from the given sensor data (Tzschichholz et al, 2015). For more details on camera based navigation experiments done on EPOS, we refer to ; Klionovska & Benningho (2016); Tzschichholz (2014); Tzschichholz et al (2011Tzschichholz et al ( , 2015.…”

Section: Camera Based Navigationmentioning

confidence: 99%

European Proximity Operations Simulator 2.0 (EPOS) - A Robotic-Based Rendezvous and Docking Simulator

Benninghoff

Rems

Risse

et al. 2017

JLSRF

View full text Add to dashboard Cite

The European Proximity Operations Simulator (EPOS) 2.0 located at the German Space Operations Center (GSOC) in Oberpfaffenhofen, Germany, is a robotic based test facility of the German Aerospace Center (DLR) used for simulation of rendezvous and docking (RvD) processes. Hardware such as rendezvous sensors (cameras, laser scanners) or docking tools, as well as software (e.g. for navigation and control) can be tested and verified. The facility consists of two robotic manipulators with each six degrees of freedom, a linear slide of 25m length on which one robot can be moved in the laboratory, and a computer-based monitoring and control system. EPOS 2.0 allows for real-time simulations of the rendezvous and docking process during the most critical phase (separation from 25m to 0m) of proximity and docking/berthing operations.

show abstract

Section: Camera Based Navigationmentioning

confidence: 99%

European Proximity Operations Simulator 2.0 (EPOS) - A Robotic-Based Rendezvous and Docking Simulator

Benninghoff

Rems

Risse

et al. 2017

JLSRF

View full text Add to dashboard Cite

show abstract

“…A spacecraft pose estimation algorithm is tested in [ 26 ] which process real-time PMD time-of-flight (ToF) camera frames to produce a six degrees-of-freedom pose estimate by 3D feature detection and feature matching. A new pose estimation method of satellites is presented in [ 27 ] by fusing PMD time-of-flight (ToF) camera and CCD sensor in order to benefit from each other sensor’s advantages, and it is tested on the European Proximity Operations Simulator (EPOS).…”

Section: Related Workmentioning

confidence: 99%

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

Liu

Zhao

2016

Sensors

View full text Add to dashboard Cite

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.

show abstract

“…An Improved Particle Filter (IPF) is designed to estimate the system motion parameters by processing the measurements from a sonar sensor and camera. In [ 18 ], laser scanners and a stereo vision camera are used to estimate the pose of moving objects in terrestrial and space applications. Based on the data from the Laser Camera System (LCS), [ 19 ] presents a closed-loop integrated sensor fusion approach, which consists of a Kalman filter and an Iterative Closest Point (ICP) algorithm.…”

Section: Literature Reviewmentioning

confidence: 99%

An Accurate and Fault-Tolerant Target Positioning System for Buildings Using Laser Rangefinders and Low-Cost MEMS-Based MARG Sensors

Zhao

Guan

Landry

et al. 2015

Sensors

View full text Add to dashboard Cite

Target positioning systems based on MEMS gyros and laser rangefinders (LRs) have extensive prospects due to their advantages of low cost, small size and easy realization. The target positioning accuracy is mainly determined by the LR’s attitude derived by the gyros. However, the attitude error is large due to the inherent noises from isolated MEMS gyros. In this paper, both accelerometer/magnetometer and LR attitude aiding systems are introduced to aid MEMS gyros. A no-reset Federated Kalman Filter (FKF) is employed, which consists of two local Kalman Filters (KF) and a Master Filter (MF). The local KFs are designed by using the Direction Cosine Matrix (DCM)-based dynamic equations and the measurements from the two aiding systems. The KFs can estimate the attitude simultaneously to limit the attitude errors resulting from the gyros. Then, the MF fuses the redundant attitude estimates to yield globally optimal estimates. Simulation and experimental results demonstrate that the FKF-based system can improve the target positioning accuracy effectively and allow for good fault-tolerant capability.

show abstract

Relative pose estimation of satellites using PMD-/CCD-sensor data fusion

Cited by 42 publications

References 20 publications

European Proximity Operations Simulator 2.0 (EPOS) - A Robotic-Based Rendezvous and Docking Simulator

European Proximity Operations Simulator 2.0 (EPOS) - A Robotic-Based Rendezvous and Docking Simulator

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

An Accurate and Fault-Tolerant Target Positioning System for Buildings Using Laser Rangefinders and Low-Cost MEMS-Based MARG Sensors

Contact Info

Product

Resources

About