Tumbling target reconstruction and pose estimation through fusion of monocular vision and sparse-pattern range data

Padial, Jose; Hammond, Marcus; Augenstein, Sean; Rock, Stephen M.

doi:10.1109/mfi.2012.6343026

Cited by 3 publications

(4 citation statements)

References 14 publications

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“…Robotic space missions deployed for technological demonstrations involve robotic manipulators mounted on a space vehicle, requiring accurate navigation [85]. Such manipulators allow extreme dexterity to perform complex tasks such as capturing, docking, berthing, repairing, upgrading, assembling, refuelling, and any money more applications [86,87] as the universal solution to conduct robotic space missions in an orbital environment.…”

Section: On-orbit Servicing/actuationmentioning

confidence: 99%

Resiliency in Space Autonomy: a Review

et al. 2023

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Purpose of Review: The article provides an extensive overview on the resilient autonomy advances made across various missions, orbital or deep-space, that captures the current research approaches while investigating the possible future direction of resiliency in space autonomy. Recent Findings: In recent years, the need for several automated operations in space applications has been rising, that ranges from the following: spacecraft proximity operations, navigation and some station keeping applications, entry, decent and landing, planetary surface exploration, etc. Also, with the rise of miniaturization concepts in spacecraft, advanced missions with multiple spacecraft platforms introduce more complex behaviours and interactions within the agents, which drives the need for higher levels of autonomy and accommodating collaborative behaviour coupled with robustness to counter unforeseen uncertainties. This collective behaviour is now referred to as resiliency in autonomy. As space missions are getting more and more complex, for example applications where a platform physically interacts with non-cooperative space objects (debris) or planetary bodies coupled with hostile, unpredictable, and extreme environments, there is a rising need for resilient autonomy solutions. Summary Resilience with its key attributes of robustness, redundancy and resourcefulness will lead toward new and enhanced mission paradigms of space missions.

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Section: On-orbit Servicing/actuationmentioning

confidence: 99%

Resiliency in Space Autonomy: a Review

et al. 2023

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“…To determine the fuel use dependence on angle, a reference uncertainty was derived from Padial's vision system research [54]. For this thesis, the uncertainty level is determined to be 5 × 10 −4 rad/s, which is derived from the worst case estimation Once the approach corridor descent begins (trajectory segment 5), the trajectories behave uniformly and descend down the middle of the approach corridor.…”

Section: Evaluating Fuel Use Versusmentioning

confidence: 99%

“…For reference, the same analysis was done with the reference point uncertainty, which is dis-Figure 5-13: The failure rate of trajectories given the error. The point marked reference (blue) is derived from Padial [54]. The second analysis will explore the points labeled A and B (black) to determine the ∆V cost to reduce the failure percentage.…”

Section: Determining Fuel Cost To Reduce Failurementioning

confidence: 99%

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Rendezvous Approach Guidance for Uncooperative Tumbling Satellites

Chan

Sargent

2020

2020 IEEE Aerospace Conference

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The development of a Rendezvous and Proximity Operations (RPO) guidance algorithm for approaching uncooperative tumbling satellites has multiple purposes including on-orbit satellite servicing, space debris removal, asteroid mining, and on-orbit assembly. This thesis develops a guidance algorithm within the framework of on-orbit satellite servicing, but is extendable to other mission scenarios. The author tests the algorithm in an RPO simulation with an uncooperative tumbling satellite near Geostationary Orbit (GEO) starting at a relative distance of 50 m and ending at a relative distance of 5 m. Examples of potential uncooperative tumbling clients include decommissioned satellites or satellites with malfunctioning thrusters. Due to the low Technology Readiness Level (TRL) of autonomous (RPO) missions, first missions prefer to use flight proven technologies. This thesis implements a guidance algorithm based on the flight proven Clohessy-Wiltshire (CW) and space shuttle glideslope equations which command a sequence of burns to close the distance between the servicer and client while matching the client satellite's rotation rate. The author validates the guidance algorithm through Monte Carlo (MC) analysis in a Three Degrees of Freedom (3DOF) simulation. Fuel use metrics characterize the sensitivity of the algorithm. Fuel consumption is measured by the total velocity changes, or ∆V, needed to complete the maneuvers. Cumulative ∆V sensitivity is measured against navigational uncertainty in the rotational axis to summarize the key requirements and trade-offs associated with implementing this algorithm.

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Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion

Zhang

Peng

et al. 2021

Remote Sensing

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On-orbit space technology is used for tasks such as the relative navigation of non-cooperative targets, rendezvous and docking, on-orbit assembly, and space debris removal. In particular, the pose estimation of space non-cooperative targets is a prerequisite for studying these applications. The capabilities of a single sensor are limited, making it difficult to achieve high accuracy in the measurement range. Against this backdrop, a non-cooperative target pose measurement system fused with multi-source sensors was designed in this study. First, a cross-source point cloud fusion algorithm was developed. This algorithm uses the unified and simplified expression of geometric elements in conformal geometry algebra, breaks the traditional point-to-point correspondence, and constructs matching relationships between points and spheres. Next, for the fused point cloud, we proposed a plane clustering-method-based CGA to eliminate point cloud diffusion and then reconstruct the 3D contour model. Finally, we used a twistor along with the Clohessy–Wiltshire equation to obtain the posture and other motion parameters of the non-cooperative target through the unscented Kalman filter. In both the numerical simulations and the semi-physical experiments, the proposed measurement system met the requirements for non-cooperative target measurement accuracy, and the estimation error of the angle of the rotating spindle was 30% lower than that of other, previously studied methods. The proposed cross-source point cloud fusion algorithm can achieve high registration accuracy for point clouds with different densities and small overlap rates.

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Tumbling target reconstruction and pose estimation through fusion of monocular vision and sparse-pattern range data

Cited by 3 publications

References 14 publications

Resiliency in Space Autonomy: a Review

Resiliency in Space Autonomy: a Review

Rendezvous Approach Guidance for Uncooperative Tumbling Satellites

Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion

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