Experimental Study of Spacecraft Pose Estimation Algorithm Using
This paper presents a vision-based relative pose estimation algorithm and its validation through both numerical and hardware experiments. The algorithm and the hardware system were simultaneously designed considering actual experimental conditions. Two estimation techniques were utilized to estima...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
The Korean Space Science Society
2018-12-01
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| Series: | Journal of Astronomy and Space Sciences |
| Subjects: | |
| Online Access: | http://janss.kr/journal/article.php?code=64514 |
| _version_ | 1827393758408212480 |
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| author | Jeonghoon Hyun Youngho Eun Sang-Young Park |
| author_facet | Jeonghoon Hyun Youngho Eun Sang-Young Park |
| author_sort | Jeonghoon Hyun |
| collection | DOAJ |
| description | This paper presents a vision-based relative pose estimation algorithm and its validation through both numerical and hardware
experiments. The algorithm and the hardware system were simultaneously designed considering actual experimental
conditions. Two estimation techniques were utilized to estimate relative pose; one was a nonlinear least square method for
initial estimation, and the other was an extended Kalman Filter for subsequent on-line estimation. A measurement model
of the vision sensor and equations of motion including nonlinear perturbations were utilized in the estimation process.
Numerical simulations were performed and analyzed for both the autonomous docking and formation flying scenarios. A
configuration of LED-based beacons was designed to avoid measurement singularity, and its structural information was
implemented in the estimation algorithm. The proposed algorithm was verified again in the experimental environment by
using the Autonomous Spacecraft Test Environment for Rendezvous In proXimity (ASTERIX) facility. Additionally, a laser
distance meter was added to the estimation algorithm to improve the relative position estimation accuracy. Throughout
this study, the performance required for autonomous docking could be presented by confirming the change in estimation
accuracy with respect to the level of measurement error. In addition, hardware experiments confirmed the effectiveness of the
suggested algorithm and its applicability to actual tasks in the real world. |
| first_indexed | 2024-03-08T17:55:01Z |
| format | Article |
| id | doaj.art-2a381ce4d6a4453fab95f9cd58099ec7 |
| institution | Directory Open Access Journal |
| issn | 2093-5587 2093-1409 |
| language | English |
| last_indexed | 2024-03-08T17:55:01Z |
| publishDate | 2018-12-01 |
| publisher | The Korean Space Science Society |
| record_format | Article |
| series | Journal of Astronomy and Space Sciences |
| spelling | doaj.art-2a381ce4d6a4453fab95f9cd58099ec72024-01-02T04:59:21ZengThe Korean Space Science SocietyJournal of Astronomy and Space Sciences2093-55872093-14092018-12-01354263277https://doi.org/10.5140/JASS.2018.35.4.263Experimental Study of Spacecraft Pose Estimation Algorithm UsingJeonghoon Hyun0Youngho Eun1Sang-Young Park2partment of Astronomy, Yonsei UniversityDepartment of Astronomy, Yonsei UniversityDepartment of Astronomy, Yonsei UniversityThis paper presents a vision-based relative pose estimation algorithm and its validation through both numerical and hardware experiments. The algorithm and the hardware system were simultaneously designed considering actual experimental conditions. Two estimation techniques were utilized to estimate relative pose; one was a nonlinear least square method for initial estimation, and the other was an extended Kalman Filter for subsequent on-line estimation. A measurement model of the vision sensor and equations of motion including nonlinear perturbations were utilized in the estimation process. Numerical simulations were performed and analyzed for both the autonomous docking and formation flying scenarios. A configuration of LED-based beacons was designed to avoid measurement singularity, and its structural information was implemented in the estimation algorithm. The proposed algorithm was verified again in the experimental environment by using the Autonomous Spacecraft Test Environment for Rendezvous In proXimity (ASTERIX) facility. Additionally, a laser distance meter was added to the estimation algorithm to improve the relative position estimation accuracy. Throughout this study, the performance required for autonomous docking could be presented by confirming the change in estimation accuracy with respect to the level of measurement error. In addition, hardware experiments confirmed the effectiveness of the suggested algorithm and its applicability to actual tasks in the real world.http://janss.kr/journal/article.php?code=64514relative pose estimationvision-based sensorextended Kalman Filterhardware experiment |
| spellingShingle | Jeonghoon Hyun Youngho Eun Sang-Young Park Experimental Study of Spacecraft Pose Estimation Algorithm Using Journal of Astronomy and Space Sciences relative pose estimation vision-based sensor extended Kalman Filter hardware experiment |
| title | Experimental Study of Spacecraft Pose Estimation Algorithm Using |
| title_full | Experimental Study of Spacecraft Pose Estimation Algorithm Using |
| title_fullStr | Experimental Study of Spacecraft Pose Estimation Algorithm Using |
| title_full_unstemmed | Experimental Study of Spacecraft Pose Estimation Algorithm Using |
| title_short | Experimental Study of Spacecraft Pose Estimation Algorithm Using |
| title_sort | experimental study of spacecraft pose estimation algorithm using |
| topic | relative pose estimation vision-based sensor extended Kalman Filter hardware experiment |
| url | http://janss.kr/journal/article.php?code=64514 |
| work_keys_str_mv | AT jeonghoonhyun experimentalstudyofspacecraftposeestimationalgorithmusing AT younghoeun experimentalstudyofspacecraftposeestimationalgorithmusing AT sangyoungpark experimentalstudyofspacecraftposeestimationalgorithmusing |