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Far and proximity maneuvers of a constellation of service satellites and autonomous pose estimation of customer satellite using machine vision

Arantes, Gilberto and Rocco, Evandro Marconi and da Fonseca, Ijar and Theil, Stephan (2010) Far and proximity maneuvers of a constellation of service satellites and autonomous pose estimation of customer satellite using machine vision. Acta Astronautica, pp. 1493-1505. PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND. DOI: 10.1016/j.actaastro.2009.11.022. ISSN 0094-5765.

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Abstract

Space robotics has a substantial interest in achieving on-orbit satellite servicing operations autonomously, e.g. rendezvous and docking/berthing (RVD) with customer and malfunctioning satellites. An on-orbit servicing vehicle requires the ability to estimate the position and attitude in situations whenever the targets are uncooperative. Such situation comes up when the target is damaged. In this context, this work presents a robust autonomous pose system applied to RVD missions. Our approach is based on computer vision, using a single camera and some previous knowledge of the target, i.e. the customer spacecraft. A rendezvous analysis mission tool for autonomous service satellite has been developed and presented, for far maneuvers, e.g. distance above 1 km from the target, and close maneuvers. The far operations consist of orbit transfer using the Lambert formulation. The close operations include the inspection phase (during which the pose estimation is computed) and the final approach phase. Our approach is based on the Lambert problem for far maneuvers and the Hill equations are used to simulate and analyze the approaching and final trajectory between target and chase during the last phase of the rendezvous operation. A method for optimally estimating the relative orientation and position between camera system and target is presented in detail. The target is modelled as an assembly of points. The pose of the target is represented by dual quaternion in order to develop a simple quadratic error function in such a way that the pose estimation task becomes a least square minimization problem. The problem of pose is solved and some methods of non-linear square optimization (Newton, Newton�Gauss, and Levenberg�Marquard) are compared and discussed in terms of accuracy and computational cost.

Document Type:Article
Title:Far and proximity maneuvers of a constellation of service satellites and autonomous pose estimation of customer satellite using machine vision
Authors:
AuthorsInstitution or Email of Authors
Arantes, GilbertoUNSPECIFIED
Rocco, Evandro MarconiUNSPECIFIED
da Fonseca, IjarUNSPECIFIED
Theil, StephanStephan.Theil@dlr.de
Date:May 2010
Journal or Publication Title:Acta Astronautica
Refereed publication:Yes
In Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1016/j.actaastro.2009.11.022
Page Range:pp. 1493-1505
Publisher:PERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
ISSN:0094-5765
Status:Published
Keywords:Rendezvous and docking; On-orbit servicing; Orbital maneuver; Satellite constellation; Computer vision; Pose estimation
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W - no assignement
DLR - Research area:Space
DLR - Program:W - no assignement
DLR - Research theme (Project):W -- no assignement (old)
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Regelungs- und Datensysteme
Deposited By: Dr.-Ing. Stephan Theil
Deposited On:15 Jun 2010 13:22
Last Modified:12 Dec 2013 20:57

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