Relative Angles-Only Navigation and Pose Estimation For Autonomous Orbital Rendezvous

Woffinden, David; Geller, David

doi:10.2514/1.28216

Cited by 114 publications

(58 citation statements)

References 14 publications

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“…[1][2][3][4][5][6][7][8][9][10] Automatic docking require precise relative pose estimation of the target spacecraft. Many developed space-faring countries have deployed a number of manned and unmanned spacecraft with ARD capability: Progress and Soyuz by RKA in Russia, ATV by ESA in Europe, ETS-VII by NASDA, HTV by JAXA in Japan, the unmanned XSS-11 by the U.S. Air Force, DART by NASA in the USA, Dragon by SpaceX in the USA, and Tiangong 1 and Shenzhou 8 by CNSA in China.…”

Section: A108mentioning

confidence: 99%

“…Such ARD techniques can be implemented using range, optical, and imaging sensors for longitudinal and lateral guidance. [1][2][3][4][5][6][7][8][9] When these are combined with an onboard navigation system using GPS/INS aids and a star tracker, a spacecraft can automatically maneuver toward a target and perform docking with greater accuracy. 10) For unmanned missions, the ARD system uses an adjustable light source and three or more reflective element clamps (i.e., retro-reflectors) as point-like features to detect the relative distance and orientation between the chaser and target vehicle based on prior information about reflector locations on the visual marker.…”

Section: A108mentioning

confidence: 99%

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Visual Detection and Servoing for Automated Docking of Unmanned Spacecraft

Cho

Huh

Shim

2014

AEROSPACE TECHNOLOGY JAPAN

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In this paper, we propose a visual servoing algorithm for the automated docking of unmanned spacecraft. The proposed algorithm detects a set of custom visual markers using pyramid-based template matching for scale-invariance, and tracks the set of markers using a particle filter and the continuously adaptive mean-shift (CAMShift) algorithm for nonlinear movement. For fast execution, the proposed algorithm runs on general-purpose graphics processing units (GPGPUs) using compute unified device architecture (CUDA) and multi-platform shared memory parallel programming. The performance of the proposed algorithm is validated in flight tests using an indoor unmanned aerial vehicle (UAV) and a simulated docking adapters which showed satisfactory results.

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Section: A108mentioning

confidence: 99%

Section: A108mentioning

confidence: 99%

Visual Detection and Servoing for Automated Docking of Unmanned Spacecraft

Cho

Huh

Shim

2014

AEROSPACE TECHNOLOGY JAPAN

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“…An efficient alternative to Monte Carlo analysis for analyzing the performance of a dy- Carlo results are typically less than 10% [22] though results need to be periodically verified.…”

Section: Covariance Analysismentioning

confidence: 99%

Terrain-Relative and Beacon-Relative Navigation for Lunar Powered Descent and Landing

Christensen

Geller

2011

J of Astronaut Sci

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As NASA prepares to return humans to the moon and establish a long-term presence on the surface, technologies must be developed to access previously unvisited terrain regardless of the condition. Among these technologies is a guidance, navigation and control (GNC) system capable of safely and precisely delivering a spacecraft, whether manned or robotic, to a predetermined landing area. This thesis presents detailed research of both terrain-relative navigation using a terrain-scanning instrument and beacon-relative radiometric navigation using beacons in lunar orbit or on the surface of the moon. The models for these sensors are developed along with a baseline sensor suite that includes an altimeter, IMU, velocimeter, and star camera. Linear covariance analysis is used to rapidly perform the trade studies relevant to this problem and to provide the navigation performance data necessary to determine which navigation method is best suited to support a 100 m 3-σ navigation requirement for landing anytime and anywhere on the moon.(90 pages) iv

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“…The Kalman filter approach is a commonly used estimation technique in many applications that include vision based estimation and target tracking [23], multi-agent consensus [2,[24][25][26], aerodynamic parameter estimation [27], relative position and attitude estimation for docking of spacecraft [28], vibration mitigation associated with sensors placed on vibrating structures [29], and orbital rendezvous [30]. This is integrated with the controller so that it can use the target measurements (range, azimuth and elevation) received from sensors and estimate the full state of the target (three components of the position vector, speed, flight path angle and the heading/course angle).…”

Section: Introductionmentioning

confidence: 99%

Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs

Ahmed

Subbarao

2016

Aerospace

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This paper presents an estimation based backstepping like control law design for an Unmanned Aerial Vehicle (UAV) to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF) to estimate the full state of the target. A nonlinear controller then utilizes this estimated target state and the chaser's state to provide speed, flight path, and course/heading angle commands to the chaser UAV. Tracking performance with respect to measurement uncertainty is evaluated for three cases: (1) stationary white noise; (2) stationary colored noise and (3) non-stationary (range correlated) white noise. Furthermore, in an effort to improve tracking performance, the measurement model is made more realistic by taking into consideration range-dependent uncertainties in the measurements, i.e., as the chaser closes in on the target, measurement uncertainties are reduced in the EKF, thus providing the UAV with more accurate control commands. Simulation results for these cases are shown to illustrate target state estimation and trajectory tracking performance.

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Relative Angles-Only Navigation and Pose Estimation For Autonomous Orbital Rendezvous

Cited by 114 publications

References 14 publications

Visual Detection and Servoing for Automated Docking of Unmanned Spacecraft

Visual Detection and Servoing for Automated Docking of Unmanned Spacecraft

Terrain-Relative and Beacon-Relative Navigation for Lunar Powered Descent and Landing

Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs

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