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Relative Pose Estimation of Satellites Using PMD-/CCD-Sensor Data Fusion

Tzschichholz, Tristan and Boge, Toralf and Schilling, Klaus (2015) Relative Pose Estimation of Satellites Using PMD-/CCD-Sensor Data Fusion. Acta Astronautica, 109, pp. 25-33. Elsevier. doi: 10.1016/j.actaastro.2014.12.010. ISSN 0094-5765.

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Official URL: http://www.sciencedirect.com/science/article/pii/S0094576514005074


Rendezvous & Docking to passive objects, as of relevance for space debris removal, raises new challenges with respect to relative navigation. Whenever the position and orientation (pose) of an object is required in terrestrial and in space applications, sensor systems such as laser scanners and stereo vision systems are often employed. This paper presents an approach to pose estimation using a 3D time-of-flight camera for ranging information in combination with a high resolution grayscale camera. We have designed a pose estimation method that fuses the data streams of the two sensors in order to benefit from each sensors׳ advantages. A rigorous test campaign on a Real-Time Hardware-In-The-Loop Rendezvous and Docking Simulator - the European Proximity Operations Simulator (EPOS) - was performed in order to evaluate the performance of the resulting algorithm. The proposed pose estimation method does not exceed an average distance error of 3 cm while being capable of providing pose estimates at up to 60 FPS on recent hardware. Thus, when regarding proximity operations, an attractive sensor system is used to characterize the dynamics of the target object for safe approach results.

Item URL in elib:https://elib.dlr.de/95224/
Document Type:Article
Title:Relative Pose Estimation of Satellites Using PMD-/CCD-Sensor Data Fusion
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Tzschichholz, TristanZentrum für Telematik e.V.UNSPECIFIED
Schilling, KlausJulius-Maximilians-Universität WürzburgUNSPECIFIED
Journal or Publication Title:Acta Astronautica
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1016/j.actaastro.2014.12.010
Page Range:pp. 25-33
Keywords:Photonic Mixer Device (PMD), Time of flight (ToF), Rendezvous, Docking, Pose estimation, Sensor data fusion
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: Benninghoff, Heike
Deposited On:16 Feb 2015 11:15
Last Modified:16 Feb 2015 11:15

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