Vision-based space autonomous rendezvous: A case study

Abstract

Abstract-For a space rendezvous mission, autonomy imposes stringent performance requirements regarding navigation. For the final phase, a vision-based navigation can be a solution. A 3D model-based tracking algorithm has been studied and tested on a mock-up of a telecommunication satellite, using a 6-DOF robotic arm, with satisfactory results, in terms of precision of the pose estimation and computational costs. Quantitative tests in open loop have been carried out to show the robustness of the algorithm to relative inter frame motions chaser/target, orientation variations and illumination conditions. The tracking algorithm has also been successfully implemented in a closed loop chain for visual servoing.

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

“…Therefore, by inverting Equation (21) in order to obtain the desired spacecraft acceleration vector ( ) from the reference image accelerations ( ), it is possible to obtain:…”

“…Finally, the guidance system of the chaser should be designed in order to make possible the close approach to the target by taking into account the typology of the capture system as well as the characteristics and performance of the actuation system. In both [21] and [22], experimental setups have been settled in order to test the visionbased tracking algorithms to a space-like scenario. The experimental results showed the robustness of the classical algorithms to relative chaser/target orientation motions under different illumination conditions.…”

Vision-based localization for on-orbit servicing of a partially cooperative satellite

“…The most related work to ours [17] exploits a line model of the client to estimate orientation and position from monocular sequences in real time. They employed a model-based approach [18] which is basically equivalent [19] to our implementation, based instead on the classical approach [20].…”

Covariance-Based Multiple-Impulse Rendezvous Design

“…The Clohessy-Wiltshire (CW) model [8] develops a LTI system of equations for rendezvous between close spacecraft in near circular orbits. There are also a wide variety of measurements for the absolute and relative navigation of spacecraft in a rendezvous mission including line-of-sight [9], anglesonly data [10], vision-based navigation [11], global positioning system (GPS) [12], and relative GPS [13].…”