Tell a friend
Print
Klionovska, Ksenia and Benninghoff, Heike (2017) Initial Pose Estimation using PMD Sensor during the Rendezvous Phase in On-Orbit Servicing Missions. 27th AAS/AIAA Space Flight Mechanics Meeting, 5.-9. Februar 2017, San Antonio, Texas, USA.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
1MB |
Abstract
This paper describes a designed visual model-based algorithm using the PMD (Photonic Mixer Device) sensor for the initial pose estimation of the target in future On-Orbit Servicing missions. The initial relative pose (position and orientation) in a close range has to be estimated, starting less than 7 meters between target and a camera. The verification of the algorithm is conducted by comparing the estimated pose with a ground truth. The ground truth is derived from the high-accuracy hardware-in-the-loop European Proximity Operations Simulator offered for the simulations of On-Orbit Servicing scenarios on the ground. The results of the simulations have shown the feasibility of the algorithm to estimate the pose with sufficient accuracy as required for a pose initialization algorithm. Consequently, the designed algorithm is applicable for the initial pose estimation using PMD sensor with definite working parameters and conditions.
| Item URL in elib: | https://elib.dlr.de/111356/ | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech) | |||||||||
| Title: | Initial Pose Estimation using PMD Sensor during the Rendezvous Phase in On-Orbit Servicing Missions | |||||||||
| Authors: |
| |||||||||
| Date: | 2017 | |||||||||
| Refereed publication: | No | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Status: | Published | |||||||||
| Keywords: | PMD camera, rendezvous, pose estimation, on-orbit servicing | |||||||||
| Event Title: | 27th AAS/AIAA Space Flight Mechanics Meeting | |||||||||
| Event Location: | San Antonio, Texas, USA | |||||||||
| Event Type: | international Conference | |||||||||
| Event Dates: | 5.-9. Februar 2017 | |||||||||
| HGF - Research field: | Aeronautics, Space and Transport | |||||||||
| HGF - Program: | Space | |||||||||
| HGF - Program Themes: | Space System Technology | |||||||||
| DLR - Research area: | Raumfahrt | |||||||||
| DLR - Program: | R SY - Space System Technology | |||||||||
| DLR - Research theme (Project): | R - Projekt OOS-E2E (old) | |||||||||
| Location: | Oberpfaffenhofen | |||||||||
| Institutes and Institutions: | Space Operations and Astronaut Training > Space Flight Technology | |||||||||
| Deposited By: | Frei, Heike | |||||||||
| Deposited On: | 13 Mar 2017 15:05 | |||||||||
| Last Modified: | 31 Jul 2019 20:08 |
Repository Staff Only: item control page
