Low-Cost, High-Performance Monocular Vision System for Air Bearing Table Attitude Determination

Wu, Yunhua; Gao, Yang; Lin, Jia‐Wei; Raus, Robin; Zhang, Shijie; Watt, Mark

doi:10.2514/1.a32465

Cited by 11 publications

(9 citation statements)

References 19 publications

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“…The size of table (2 × 3 m) allows for performing complicated maneuvers such as rendezvous maneuvers, final docking, or detumbling of a gathered target [100]. An example of a round ABT, developed typically for testing spacecraft attitude control, is illustrated in Figure 5.23b [101].…”

Section: Validation Methodsmentioning

confidence: 99%

Manipulation and Control

Fernández

Allouis

Seweryn

et al. 2016

Contemporary Planetary Robotics

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Section: Validation Methodsmentioning

confidence: 99%

Manipulation and Control

Fernández

Allouis

Seweryn

et al. 2016

Contemporary Planetary Robotics

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“…The position data will be compared to the markers' initial position stored in the system and the current attitude of the testbed is computed. The attitude accuracy achievable by the vision system is 0.06 deg while the velocity accuracy is measured at 0.15 deg/s [5]. This velocity accuracy however can be improved by utilizing a camera that has a faster refresh rate than the existing unit.…”

Section: Introductionmentioning

confidence: 99%

“…The only needed work to be done before the vision system can be used is to determine the location and perform the needed calibration. The system implementation can be referred further in [5]. In this section the position of the needed IrLED markers is shown and the calibration process is described.…”

Section: E Attitude Determination Subsystem (Ads)mentioning

confidence: 99%

“…These IrLEDs is positioned around the testbed according to the rules mentioned in [5]. The following Fig.…”

Section: E Attitude Determination Subsystem (Ads)mentioning

confidence: 99%

“…The testbed is equipped with a novel low-cost monocular vision system [5] for its attitude determination. The vision system utilizes five infra-red LED (IrLED) markers mounted on the testbed platform with a typical USB camera installed above it using an isolated frame.…”

Section: Introductionmentioning

confidence: 99%

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Modular Testbed for Spinning Spacecraft

Chanik

Gao

2017

Journal of Spacecraft and Rockets

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Abstract-The ground verification of a spacecraft control algorithm is commonly done via air bearing facility. Air bearing testbeds are frequently developed for testing a three-axis stabilised spacecraft control algorithm but hardly for a spin stabilised spacecraft. A modular testbed for testing a spinning spacecraft has been developed in the Surrey Space Centre (SSC) initially for the real-time verification of a prolate spinner slew control algorithms. This testbed is made from commercially-offthe-shelf (COTS) components with a modular system design approach through rapid control prototyping (RCP) using Matlab xPC Target and extendable to other RCP technique. It is equipped with a novel low cost monocular vision system for attitude determination with the accuracy of 0.06 deg and angular velocity accuracy of 0.15 deg/s. For the current specification, a cold gas propulsion system is fixed to the testbed with a 2-DOF thruster set that can deliver up to 0.25N of thrust and an air bearing capability that gives 3-DOF with a maximum tilt angle of 30 deg. In this paper, the testbed implementation is described and the test platform is verified.

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