In order to realize the on-orbit servicing of malfunctioning spacecraft and space debris removal, it is necessary to relative pose measurement and establish the fault model accurately. Aiming at the problem of pose measurement and modeling for non-cooperative malfunctioning spacecraft, a method based on monocular visual Simultaneous Localization and Mapping (SLAM) is proposed in this paper. The algorithm is mainly used to extract feature points, match and calculate the pose relation between the camera and the malfunctioning spacecraft, measure the pose change of the malfunctioning spacecraft, and use the relative pose and image sequence to build a three-dimensional model of the malfunctioning spacecraft. The results of ground experiments show that the accuracy of pose measurement and modeling is high, which verifies the feasibility of SLAM technology in the field of on-orbit servicing for non-cooperative target spacecraft.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Research on Pose Measurement and Modelling Technology of Malfunctioning Spacecraft Based on SLAM


    Beteiligte:
    Wang, Pengxi (Autor:in) / Wang, Changyue (Autor:in) / Song, Kejian (Autor:in) / Wang, Liping (Autor:in)


    Erscheinungsdatum :

    2023-05-19


    Format / Umfang :

    4627700 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    RESILIENT SPACECRAFT FORMATION CONTROL UNDER MALFUNCTIONING COMMUNICATION

    Phillips, Sean / Petersen, Christopher D. / Fierro, Rafael | TIBKAT | 2020


    Multi-spacecraft Cooperative Control Method for Malfunctioning Spacecraft Pursuit

    Wang, Xiaolong / Li, Ruifeng / Sun, Chong et al. | IEEE | 2022


    Resilient Spacecraft Formation Control Under Malfunctioning Communication

    Phillips, Sean / Petersen, Christopher D. / Fierro, Rafael | AIAA | 2020


    Spacecraft Loads and Acoustic Measurement (SLAM)

    K. Harmon / W. Mast / A. Gomez et al. | NTIS | 2023


    Active Pose SLAM

    Valencia, Rafael / Andrade-Cetto, Juan | Springer Verlag | 2017