Smoothing-Based Estimation Of An Inspector Satellite Trajectory Relative To A Passive Object
2017 IEEE AEROSPACE CONFERENCE(2017)
Abstract
This paper presents a method of obtaining the maximum a posteriori estimate of an inspector satellite's trajectory about an unknown tumbling target while on-orbit. An inspector equipped with radar or a 3D visual sensor (such as LiDAR or stereo cameras), an inertial measurement unit, and a star tracker is used to obtain measurements of range and bearing to the target's centroid, angular velocity, acceleration, and orientation in the inertial frame. A smoothing-based trajectory estimation scheme is presented that makes use of all the input sensor data to estimate the inspector's trajectory. Open-source incremental smoothing and mapping (iSAM2) software is used to implement the smoothing-based trajectory estimation algorithm; this facilitates computationally efficient evaluation of the entire trajectory, which can be performed incrementally, and in real time on a computer capable of processing 3D visual sensor data in real time. The presented algorithm was tested on data obtained in 6 degree-of-freedom microgravity using the SPHERES-VERTIGO robotic test platform on the International Space Station (ISS). In these tests, a SPHERES inspector satellite with attached stereo cameras circumnavigated a passive SPHERES target satellite, making visual observations of it. The results of these tests demonstrate accurate estimation of the inspector satellite's trajectory.
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Key words
inspector satellite trajectory,passive object,maximum a posteriori estimate,inertial measurement unit,star tracker,target centroid,angular velocity,inertial frame orientation,smoothing-based trajectory estimation scheme,open-source incremental smoothing and mapping software,iSAM2 software,3D visual sensor data processing,6 degree-of-freedom microgravity,SPHERES-VERTIGO robotic test platform,International Space Station,ISS,SPHERES inspector satellite,stereo cameras,passive SPHERES target satellite,visual observations,range measurements
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