The autonomous close-in maneuvering necessary for the rendezvous and docking of two spacecraft requires a relative navigation sensor system that can determine the relative position and orientation (pose) of the controlled spacecraft with respect to the target spacecraft. Lidar imaging systems offer the potential for accurately measuring the relative six degree-of-freedom positions and orientations and the associated rates. In this paper, we present simulation results generated using a high fidelity modeling program. A simulated lidar system is used to capture close-proximity range images of a model target spacecraft, producing 3-D point cloud data. The sequentially gathered point-clouds are compared with the previous point-cloud using a real-time point-plane correspondence-less variant of the Iterative Closest Points (ICP) algorithm. The resulting range and pose estimates are used in turn to prime the next time-step iteration of the ICP algorithm. Results from detailed point-plane simulations and will be presented. The implications for real-time implementation are discussed.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Simulation tests of a lidar-based spacecraft pose determination algorithm


    Beteiligte:

    Kongress:

    Sensors and Systems for Space Applications ; 2007 ; Orlando,Florida,United States


    Erschienen in:

    Erscheinungsdatum :

    26.04.2007





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Simulation tests of a lidar-based spacecraft pose determination algorithm [6555-15]

    Fenton, R. C. / Fullmer, R. R. / Pack, R. T. et al. | British Library Conference Proceedings | 2007


    LIDAR-based model reconstruction for spacecraft pose determination

    Perfetto, Davide Maria / Opromolla, Roberto / Grassi, Michele et al. | IEEE | 2019


    CNN-Based Pose Estimation of a Noncooperative Spacecraft With Symmetries From LiDAR Point Clouds

    Renaut, Leo / Frei, Heike / Nuchter, Andreas | IEEE | 2025

    Freier Zugriff

    Pose Acquisition of Non-Cooperative Spacecraft from LiDAR: Comparison of Methods Based on Point Correspondences

    Tecchia, Clemente / Piccinin, Margherita / Nocerino, Alessia et al. | AIAA | 2025


    Backscatter LIDAR Signal Simulation Applied to Spacecraft LIDAR Instrument Design

    Fochesatto, J. / Ristori, P. / Flamant, P. et al. | British Library Conference Proceedings | 2004