Abstract This paper proposes ground-in-the-loop, model-based visual localization system based on transmitted images to ground, to aid rendezvous and docking maneuvers between a servicer and a target satellite. In particular, we assume to deal with a partially cooperative target, i.e. passive and without fiducial markers, but supposed at least to keep a controlled attitude, up to small fluctuations, so that the approach mainly involves translational motion. For the purpose of localization, video cameras provide an effective and relatively inexpensive solution, working at a wide range of distances with an increasing accuracy and robustness during the approach. However, illumination conditions in space are especially challenging, due to the direct sunlight exposure and to the glossy surface of a satellite, that creates strong reflections and saturations and therefore a high level of background clutter and missing detections. We employ a monocular camera for mid-range tracking ( 20 5 m ) and stereo camera at close-range ( 5 0.5 m ) , with the respective detection and tracking methods, both using intensity edges and robustly dealing with the above issues. Our tracking system has been extensively verified at the facility of the European Proximity Operations Simulator (EPOS) of DLR, which is a very realistic ground simulation able to reproduce sunlight conditions through a high power floodlight source, satellite surface properties using multilayer insulation foils, as well as orbital motion trajectories with ground-truth data, by means of two 6 DOF industrial robots. Results from this large dataset show the effectiveness and robustness of our method against the above difficulties.

    Highlights We provide a camera-based tracking system to aid satellite rendezvous. We analyze effect of space illumination, reflection, image compression and motion. Realistic satellite rendezvous and proximity facility of DLR assure practicality. Despite harsh illumination, requirement for on-orbit servicing can be achieved. Reliable camera-based rendezvous relies on integration of various methods.


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    Titel :

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


    Beteiligte:

    Erschienen in:

    Acta Astronautica ; 117 ; 19-37


    Erscheinungsdatum :

    2015-07-26


    Format / Umfang :

    19 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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