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Breadboard model of a 3D LIDAR sensor for real-time pose estimation of spacecraft

Rems, Florian and Fritz, Simon and Boge, Toralf (2014) Breadboard model of a 3D LIDAR sensor for real-time pose estimation of spacecraft. 9th International ESA Conference on Guidance, Navigation & Control Systems, 2.-6. Jun. 2014, Porto, Portugal. (In Press)

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Official URL: http://www.esa-gnc.eu/

Abstract

Reliable relative navigation between two spacecraft is a critical element of future On Orbit Servicing (OOS) missions and space debris removal scenarios. Sensors are required that allow for accurate estimates of a target satellite’s relative position and attitude. Scanning LiDAR (Light RADAR, also Light Detection And Ranging) based sensors are capable of creating a three dimensional point cloud of the target satellite, widely immune to varying illumination conditions. In this context, a 3D LiDAR sensor for real-time tracking and pose estimation of a target satellite is developed at the German Space Operations Center (GSOC), part of the German Aerospace Center (DLR). It is intended as an on-ground research platform for development and test of LiDAR related algorithms and concepts. The sensor is based on a commercial 2D laser scanner which is extended by an additional high precision rotary axis. An integral part of the hardware is a smart adjustment mechanism allowing precise mechanical calibration of the sensor, thereby optimizing the coverage by the scanning pattern and simplifying the necessary software models for measurement evaluation considerably. Scanner and axis are synchronized by continuous high frequency sampling of the axis angle. For controlling the sensor and for real-time pre-processing of the raw range data an embedded system is used. First tests were conducted in a robotic Rendezvous and Docking laboratory (European Proximity Operations Simulator - EPOS), involving realistic illumination conditions. This paper outlines hardware design, sensor control and processing architecture of the LiDAR sensor breadboard. Results of first tests, including accuracy and sensitivity to illumination, are presented and discussed.

Item URL in elib:https://elib.dlr.de/89757/
Document Type:Conference or Workshop Item (Speech)
Title:Breadboard model of a 3D LIDAR sensor for real-time pose estimation of spacecraft
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rems, FlorianDLRUNSPECIFIED
Fritz, SimonDLRUNSPECIFIED
Boge, ToralfDLRUNSPECIFIED
Date:June 2014
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:In Press
Keywords:LiDAR, pose estimation, on-orbit servicing, spacecraft relative navigation
Event Title:9th International ESA Conference on Guidance, Navigation & Control Systems
Event Location:Porto, Portugal
Event Type:international Conference
Event Dates:2.-6. Jun. 2014
Organizer:European Space Agency (ESA)
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: Rems, Florian
Deposited On:14 Jul 2014 09:05
Last Modified:31 Jul 2019 19:47

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