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Initial Pose Estimation using PMD Sensor during the Rendezvous Phase in On-Orbit Servicing Missions

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.

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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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Klionovska, Kseniamunich aerospace, dlrUNSPECIFIED
Benninghoff, HeikedlrUNSPECIFIED
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 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:13 Mar 2017 15:05
Last Modified:31 Jul 2019 20:08

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