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Visual Navigation for Rendezvous and Docking using PMD Camera

Klionovska, Ksenia and Benninghoff, Heike (2016) Visual Navigation for Rendezvous and Docking using PMD Camera. In: International Conference on Geographical Information Systems Theory, Applications and Management (GISTAM). 2nd International Conference on Geographical Information Systems Theory, Applications and Management (GISTAM), Rome, Italy.

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Abstract

There is one common problem of satellites which quite widely discussed: the lifespan. An idea to extend operational lifespan of a satellite in orbit, instead of replacing it by a new one, is concluded in On-Orbit Servicing (OOS) projects. The typical scenario of OOS is safe and reliable Rendezvous and Docking (RvD) of the approaching chaser to the target and taking over attitude control. In this paper relative navigation using new product Photonic Mixer Device (PMD), as new sort of the 3D Time-of-Flight (ToF) sensor, is suggested and of great interest, because the PMD sensor has never been used in space environment before. For optical navigation based on using a PMD camera, the following tasks and challenges have to be considered: initial pose estimation with a subsequent real-time object tracking, extension of the measurement range of the PMD sensor, camera calibration, performance measurements with a RvD simulation facility like EPOS 2.0 (European Proximity Operations Simulator). This paper mainly focuses on the first objective, namely pose estimation with a PMD sensor. Before calculating the pose estimate, the problem of actually finding target must be solved. The model based matching algorithm is proposed in this paper for 3D target acquisition and estimation of 6 degrees of freedom (3D position and 3D orientation) using data measurements from PMD camera.

Item URL in elib:https://elib.dlr.de/105664/
Document Type:Conference or Workshop Item (Poster)
Additional Information:Best PhD Project Award für dieses Paper auf der GISTAM'16 Konferenz
Title:Visual Navigation for Rendezvous and Docking using PMD Camera
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Klionovska, KseniaMunich AerospaceUNSPECIFIED
Benninghoff, HeikeDLRUNSPECIFIED
Date:2016
Journal or Publication Title:International Conference on Geographical Information Systems Theory, Applications and Management (GISTAM)
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:navigation, rendezvous, PMD camera, visual navigation, on-orbit servicing
Event Title:2nd International Conference on Geographical Information Systems Theory, Applications and Management (GISTAM)
Event Location:Rome, Italy
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt OOS-E2E
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Benninghoff, Heike
Deposited On:11 Aug 2016 14:21
Last Modified:31 Jul 2019 20:02

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