A robust navigation filter fusing delayed measurements from multiple sensors and its application to spacecraft rendezvous

Frei, Heike; Burri, Matthias; Rems, Florian; Risse, Eicke-Alexander

doi:10.1016/j.asr.2022.10.025

Cited by 5 publications

(3 citation statements)

References 19 publications

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“…A GNC system is also integrated in closed loop, so that maneuvers are commanded in real-time to follow the desired rendezvous approach. The point cloud processing presented in this work is integrated within this GNC system, so that the rendezvous can be performed solely with the lidar, or by fusing the measurements from multiple sensors (for instance lidar and camera) [48].…”

Section: Hardware-in-the-loop Experiments At the European Proximity O...mentioning

confidence: 99%

Lidar Pose Tracking of a Tumbling Spacecraft Using the Smoothed Normal Distribution Transform

2023

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Lidar sensors enable precise pose estimation of an uncooperative spacecraft in close range. In this context, the iterative closest point (ICP) is usually employed as a tracking method. However, when the size of the point clouds increases, the required computation time of the ICP can become a limiting factor. The normal distribution transform (NDT) is an alternative algorithm which can be more efficient than the ICP, but suffers from robustness issues. In addition, lidar sensors are also subject to motion blur effects when tracking a spacecraft tumbling with a high angular velocity, leading to a loss of precision in the relative pose estimation. This work introduces a smoothed formulation of the NDT to improve the algorithm’s robustness while maintaining its efficiency. Additionally, two strategies are investigated to mitigate the effects of motion blur. The first consists in un-distorting the point cloud, while the second is a continuous-time formulation of the NDT. Hardware-in-the-loop tests at the European Proximity Operations Simulator demonstrate the capability of the proposed methods to precisely track an uncooperative spacecraft under realistic conditions within tens of milliseconds, even when the spacecraft tumbles with a significant angular rate.

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Section: Hardware-in-the-loop Experiments At the European Proximity O...mentioning

confidence: 99%

Lidar Pose Tracking of a Tumbling Spacecraft Using the Smoothed Normal Distribution Transform

2023

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“…Hydrogen sensors based on the catalyst combustion principle became a research hotspot in hydrogen measurement technology due to their good stability and high sensitivity, and are widely used in the aerospace field [19][20][21]. The catalyst used in this type of sensor is metallic Palladium (Pd), which has two disadvantages.…”

Section: Catalyst Combustion Hydrogen Sensorsmentioning

confidence: 99%

A Review of Hydrogen Sensors for ECLSS: Fundamentals, Recent Advances, and Challenges

et al. 2023

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The development of hydrogen sensors with high detection accuracy, fast response times, long calibration periods, and good stability has become the focus of the space station environmental control and life support subsystem. We analyze the current research status of different types of hydrogen sensors, including catalyst combustion type, heat conduction type, semiconductor type, fiber optic type, etc. The response signals of most hydrogen sensors are affected by temperature and humidity, resulting in cross-sensitivity. Reducing the cross-sensitivity of temperature, humidity, and other interfering factors to achieve accurate hydrogen measurement in different environments is a challenge that limits the development of hydrogen sensors. Several hydrogen sensors that are currently commercially available have a narrow operating temperature range, most of them can only measure at room temperature, and high-temperature environments require a higher accuracy and lifetime of the sensor than required at room temperature. Many new hydrogen-sensitive materials were developed to improve the performance of the sensors. The excellent performance of fiber-optic hydrogen sensors is beneficial to temperature compensation and distributed multiparameter measurement, as well as to the research and development of intelligent sensing systems, in the context of the Internet of Things. The signal detection and demodulation techniques of fiber-optic sensors are the focus of future hydrogen sensor research.

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“…1) An On-board Data Analysis and Real-time Information System (ODARIS) that includes an Iridium modem to directly alert users about relevant observations in processed camera images [7]. 2) An on-orbit rendezvous navigation experiment that processes (simulated) LIDAR and camera images [8]. The experiment includes the ground control to test the full process of a rendezvous for an on-orbit servicing scenario.…”

Section: Introductionmentioning

confidence: 99%

ScOSA on the Way to Orbit: Reconfigurable High-Performance Computing for Spacecraft

Lüdtke,

Firchau,

Cortes

et al. 2023

2023 IEEE Space Computing Conference (SCC)

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The German Aerospace Center (DLR) is developing ScOSA (Scalable On-board Computing for Space Avionics) as a distributed on-board computing architecture for future space missions. The ScOSA architecture consists of commercial offthe-shelf (COTS) and radiation-tolerant nodes interconnected by a SpaceWire network. The system software provides services to enable parallel computing and system reconfiguration. This allows ScOSA to adapt to node errors and failures that COTS hardware is susceptible to in the space environment. In the ongoing ScOSA Flight Experiment project, a ScOSA system consisting of eight Xilinx Zynq systems-on-chip with dual-core ARM-based processors and a LEON3 radiation-tolerant processor is being built for launch on DLR's next CubeSat in late 2024. In this flight experiment, not only all 18 cores but also the programmable logic will be used for high performance on-board data processing. This paper presents the current hardware and software architecture of ScOSA. The scalability of ScOSA is highlighted from both hardware and software perspectives. We present benchmark results of the ScOSA system and experiments of the ScOSA system software on ESA's OPS-SAT in orbit in combination with a machine learning application for image classification.

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A robust navigation filter fusing delayed measurements from multiple sensors and its application to spacecraft rendezvous

Cited by 5 publications

References 19 publications

Lidar Pose Tracking of a Tumbling Spacecraft Using the Smoothed Normal Distribution Transform

Lidar Pose Tracking of a Tumbling Spacecraft Using the Smoothed Normal Distribution Transform

A Review of Hydrogen Sensors for ECLSS: Fundamentals, Recent Advances, and Challenges

ScOSA on the Way to Orbit: Reconfigurable High-Performance Computing for Spacecraft

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