Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power, and cost properties when compared with conventional flight hardware or costly laser-based systems. However, a camera cannot infer depth information on its own, which is often solved by introducing complementary sensors or a second camera. In this paper, an innovative model-based approach is demonstrated to estimate the six-dimensional pose of a target relative to the chaser spacecraft using solely a monocular setup. The observed facet of the target is tackled as a classification problem, where the three-dimensional shape is learned offline using Gaussian mixture modeling. The estimate is refined by minimizing two different robust loss functions based on local feature correspondences. The resulting pseudomeasurements are processed and fused with an extended Kalman filter. The entire optimization framework is designed to operate directly on the S E ( 3 ) manifold, uncoupling the process and measurement models from the global attitude state representation. It is validated on realistic synthetic and laboratory datasets of a rendezvous trajectory with the complex spacecraft Envisat, demonstrating estimation of the relative pose with high accuracy over full tumbling motion. Further evaluation is performed on the open-source SPEED dataset.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust On-Manifold Optimization for Uncooperative Space Relative Navigation with a Single Camera


    Beteiligte:
    Rondao, Duarte (Autor:in) / Aouf, Nabil (Autor:in) / Richardson, Mark A. (Autor:in) / Dubanchet, Vincent (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2021-03-30


    Format / Umfang :

    26 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Relative Navigation of Uncooperative Space Bodies

    Geyer, Scott P. / Crassidis, John L. / Majji, Manoranjan et al. | AIAA | 2021


    RELATIVE NAVIGATION OF UNCOOPERATIVE SPACE BODIES

    Geyer, Scott P. / Crassidis, John L. / Majji, Manoranjan et al. | TIBKAT | 2021


    Autonomous relative navigation around uncooperative spacecraft based on a single camera

    Pesce, Vincenzo / Opromolla, Roberto / Sarno, Salvatore et al. | BASE | 2019

    Freier Zugriff

    COMBINA: Relative Navigation for Unknown Uncooperative Resident Space Object

    Maestrini, Michele / Lizia, Pierluigi Di | TIBKAT | 2022


    COMBINA: Relative Navigation for Unknown Uncooperative Resident Space Object

    Maestrini, Michele / Di Lizia, Pierluigi | AIAA | 2022