EKF-SLAM based Approach for Spacecraft Rendezvous Navigation with Unknown Target Spacecraft

Sonnenburg, A.; Tkocz, Marcel; Janschek, Klaus

doi:10.3182/20100906-5-jp-2022.00058

Cited by 18 publications

(12 citation statements)

References 8 publications

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“…A monocular approach using an algorithm with SIFT features [5] and a particle filter for pose and shape estimation of an unknown target is presented in [6]. In [7] we presented an Extended Kalman filter-SLAM approach including orbit dynamics to estimate relative kinematic states and the target structure. In both approaches the target is represented by a point cloud only.…”

Section: A Related Workmentioning

confidence: 99%

“…Using the 2D feature positions and some information from the chaser's guidance, navigation and control system, the relative states and the positions of the corresponding landmarks with respect to the target body frame are estimated [7] taking into account kinematic and dynamic models of the chaser and target spacecrafts and utilizing the measurement model of the vision system. Using an estimation filter for landmark estimation instead of using simple stereo measurements only, will significantly improve the accuracy of the landmark position estimations (about one order of magnitude [14]).…”

Section: Conceptmentioning

confidence: 99%

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Experimental results for image-based geometrical reconstruction for spacecraft Rendezvous navigation with unknown and uncooperative target spacecraft

Schnitzer

Janschek

Willich

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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For both manned and autonomous space onorbit servicing missions, the collision avoidance and motion prediction of the target objects are essential for a safe mission operation. Our approach assumes unknown and uncooperative target objects (spacecraft, space debris) and a camera only vision system. The target's 3D structure is reconstructed from a sparse point cloud extracted from a rendezvous-SLAM algorithm and processed by a RANSAC algorithm. Afterwards the 3D model can be used in a feedback manner for enhancing visual navigation processing tasks. The paper details the general concept and presents experimental results with camera image data from a spacecraft rendezvous simulator testbed.

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Section: A Related Workmentioning

confidence: 99%

Section: Conceptmentioning

confidence: 99%

Experimental results for image-based geometrical reconstruction for spacecraft Rendezvous navigation with unknown and uncooperative target spacecraft

Schnitzer

Janschek

Willich

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…But those methods become less effective when the baseline of stereo cameras is narrow for long-distance measurement. Other stereovision techniques deal with several frames to recover the pose using SFM [26,27] or simultaneous localization and mapping (SLAM) [28,29]. Yet, the surface of the host spacecraft is covered by reflective materials, and feature detection and matching are vulnerable to violent illumination variation in space.…”

Section: Introductionmentioning

confidence: 99%

Rectangular-structure-based pose estimation method for non-cooperative rendezvous

2018

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Pose estimation for spacecraft is widely recognized as an important technology for space applications. Many space missions require accurate relative pose between the chaser and the target spacecraft. Stereovision is a usual mean to estimate the pose of non-cooperative targets during proximity operations. In this paper, an accurate algorithm for pose estimation is proposed by taking advantage of the geometric structure of the object. With stereo cameras, our approach employs the corners of the solar panel as features and uses bundle adjustment to improve the accuracy. Simulation results demonstrate that our method improves the precision and robustness for non-cooperative spacecraft pose estimation. Our laboratory experiments further validate the approach. The results show that the rotation angle error of our method is within 0.8°, and the measurement error in translation is less than 0.4% at the distance from 3 m to 1.2 m.

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“…The well-known concept of the simultaneous localization and mapping (SLAM) can be adopted for these tasks [20]. A set of papers are devoted to the problem using images obtained by multiple cameras installed onboard of the chaser satellite [21][22][23]. For example, a SLAM approach based on the extended Kalman filter and inertia tensor determination using stereovision measurements is proposed in the paper [22].…”

Section: Introductionmentioning

confidence: 99%

“…For example, a SLAM approach based on the extended Kalman filter and inertia tensor determination using stereovision measurements is proposed in the paper [22]. A feature-based SLAM algorithm using the stereovision system is developed in [23]. There are a very few papers on the pose determination of unknown object using monocular vision measurements.…”

Section: Introductionmentioning

confidence: 99%

Relative Pose and Inertia Determination of Unknown Satellite Using Monocular Vision

Ivanov

Ovchinnikov

Sakovich

2018

International Journal of Aerospace Engineering

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The paper proposes a two-stage algorithm for autonomous relative motion determination of noncooperative and unknown object flying in space. The algorithm is based on image processing and can be applied to motion determination of space debris with unknown geometry and dynamic characteristics. The first stage of the algorithm is aimed at forming a database of possible reference points of the object during continuous observation. Tensor of inertia, initial velocity, and angular velocity of the object are also estimated. Then, these parameters are used in the second stage of the algorithm to determine the relative motion in real time. The algorithm is studied numerically and tested using the video of the Chibis-M microsatellite separation.

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EKF-SLAM based Approach for Spacecraft Rendezvous Navigation with Unknown Target Spacecraft

Cited by 18 publications

References 8 publications

Experimental results for image-based geometrical reconstruction for spacecraft Rendezvous navigation with unknown and uncooperative target spacecraft

Experimental results for image-based geometrical reconstruction for spacecraft Rendezvous navigation with unknown and uncooperative target spacecraft

Rectangular-structure-based pose estimation method for non-cooperative rendezvous

Relative Pose and Inertia Determination of Unknown Satellite Using Monocular Vision

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