Space shuttle testing of the TriDAR 3D rendezvous and docking sensor

Abstract

This paper presents results from the first two Space Shuttle test flights of the TriDAR vision system. TriDAR was developed as a proximity operations sensor for autonomous rendezvous and docking (AR&D) missions to noncooperative targets in space. The system does not require the use of cooperative markers, such as retro‐reflectors, on the target spacecraft. TriDAR includes a hybrid three‐dimensional (3D) sensor along with embedded model based tracking algorithms to provide six‐degree‐of‐freedom (6 DOF) relative pose information in real time. A thermal imager is also included to provide range and bearing information for far‐range rendezvous operations. In partnership with the Canadian Space Agency (CSA) and NASA, Neptec has space‐qualified the TriDAR vision system and integrated it on board Space Shuttle Discovery to fly as a detailed test objective (DTO) on the STS‐128 and STS‐131 missions to the International Space Station (ISS). The objective of the TriDAR DTO missions was to demonstrate the system's ability to perform acquisition and tracking of a known target in space autonomously and provide real‐time relative navigation cues. Knowledge (reference 3D model) about the target can be obtained on the ground or in orbit. Autonomous operations involved automatic acquisition of the ISS and real‐time tracking, as well as detection and recovery from system malfunctions and/or loss of tracking. © 2012 Wiley Periodicals, Inc.

Release Guidance Analysis of a Deputy Satellite Using Charged Formation Flying for On-Orbit Servicing

“…Mathematically, the target path can be described by Eqs. (15) and (16). The first is simply the equation of an ellipse whereby a and b are the semi-major and semi-minor axis lengths.…”

“…LIDAR 14) and TriDAR 15) systems present themselves as possible position measurement systems. Within this study it will be assumed that a suitable LIDAR measurement system is installed.…”

Guidance, Navigation, and Control for the Eddy Brake Method

“…However, it should be noted that both active and passive sensors experience problems in the detection of very reflective materials (e.g. MLI) in the short range and low-reflective materials in the long range [34].…”

“…Additional sensors such as the TRIDAR have been tested on-board the Space Shuttle for automatic acquisition of the ISS and real-time tracking [34]. The TRIDAR sensor combines a laser based three-dimensional sensor with a thermal imager.…”

Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites

“…Finally, the range from a target also impacts choice; thermal infra-red cameras have been used for the farthest relative bearing measurements, operating at tens of kilometers, while visible light cameras can be used at closer range. Scanning LiDAR can be used to determine position and orientations at ranges up to ~ 3 km [65], while conventional monocular cameras have the capability to precisely identify fiducial markers during close approach. Sensor choice for relative navigation is also discussed in [66].…”