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Hardware-in-the-Loop Simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors

Klionovska, Ksenia and Burri, Matthias (2021) Hardware-in-the-Loop Simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors. Sensors (4). Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s21041455. ISBN 1424-8220. ISSN 1424-8220.

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Official URL: https://www.mdpi.com/1424-8220/21/4/1455


This paper addresses the validation of a robust vision-based pose estimation technique using a Photonic Mixer Device (PMD) sensor as a single visual sensor in the close-range phase of spacecraft rendezvous. First, it was necessary to integrate the developed hybrid navigation technique for the PMD sensor into the hardware-in-the-loop (HIL) rendezvous system developed by the German Aerospace Center (DLR). Thereafter, HIL tests were conducted using the European Proximity Operation Simulator (EPOS) with sun simulation and in total darkness. For the future missions with an active sensor, e.g., a PMD camera, it could be useful to use only its own illumination during the rendezvous phase in penumbra or umbra, instead of additional flash light. In some tests, the rotational rate of the target object was also tuned. Unlike the rendezvous tests in other works, here we present for the first time closed-loop approaches with only depth and amplitude images of a PMD sensor. For the rendezvous tests in the EPOS laboratory, the Argos3D camera was used at the range of 8 to 5.5 meters; the performance showed promising results.

Item URL in elib:https://elib.dlr.de/141087/
Document Type:Article
Title:Hardware-in-the-Loop Simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Klionovska, KseniaKsenia.Klionovska (at) dlr.deUNSPECIFIED
Burri, MatthiasMatthias.Burri (at) dlr.deUNSPECIFIED
Date:19 January 2021
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
DOI :10.3390/s21041455
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Keywords:PMD sensor, close range rendezvous, hardware-in-the-loop simulations, illumination conditions
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 Operations and Astronaut Training > Space Flight Technology
Deposited By: Klionovska, Ksenia
Deposited On:24 Feb 2021 09:17
Last Modified:24 Feb 2021 09:17

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