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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Simulation tests of a lidar-based spacecraft pose determination algorithm


    Contributors:

    Conference:

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


    Published in:

    Publication date :

    2007-04-26





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    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

    Free access

    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