Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature
This paper investigates the problem of spacecraft relative navigation with respect to an unknown target during the close-proximity operations in the on-orbit service system. The serving spacecraft is equipped with a Time-of-Flight (ToF) camera for object recognition and feature detection. A fast and...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/24/8495 |
| _version_ | 1827669642775101440 |
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| author | Yue Liu Shijie Zhang Xiangtian Zhao |
| author_facet | Yue Liu Shijie Zhang Xiangtian Zhao |
| author_sort | Yue Liu |
| collection | DOAJ |
| description | This paper investigates the problem of spacecraft relative navigation with respect to an unknown target during the close-proximity operations in the on-orbit service system. The serving spacecraft is equipped with a Time-of-Flight (ToF) camera for object recognition and feature detection. A fast and robust relative navigation strategy for acquisition is presented without any extra information about the target by using the natural circle features. The architecture of the proposed relative navigation strategy consists of three ingredients. First, a point cloud segmentation method based on the auxiliary gray image is developed for fast extraction of the circle feature point cloud of the target. Secondly, a new parameter fitting method of circle features is proposed including circle feature calculation by two different geometric models and results’ fusion. Finally, a specific definition of the coordinate frame system is introduced to solve the relative pose with respect to the uncooperative target. In order to validate the efficiency of the segmentation, an experimental test is conducted based on real-time image data acquired by the ToF camera. The total time consumption is saved by 94%. In addition, numerical simulations are carried out to evaluate the proposed navigation algorithm. It shows good robustness under the different levels of noises. |
| first_indexed | 2024-03-10T03:06:05Z |
| format | Article |
| id | doaj.art-b792aaf600884bb1b3e3ad5c38177a54 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:06:05Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b792aaf600884bb1b3e3ad5c38177a542023-11-23T10:32:15ZengMDPI AGSensors1424-82202021-12-012124849510.3390/s21248495Relative Pose Determination of Uncooperative Spacecraft Based on Circle FeatureYue Liu0Shijie Zhang1Xiangtian Zhao2Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, ChinaResearch Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, ChinaResearch Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, ChinaThis paper investigates the problem of spacecraft relative navigation with respect to an unknown target during the close-proximity operations in the on-orbit service system. The serving spacecraft is equipped with a Time-of-Flight (ToF) camera for object recognition and feature detection. A fast and robust relative navigation strategy for acquisition is presented without any extra information about the target by using the natural circle features. The architecture of the proposed relative navigation strategy consists of three ingredients. First, a point cloud segmentation method based on the auxiliary gray image is developed for fast extraction of the circle feature point cloud of the target. Secondly, a new parameter fitting method of circle features is proposed including circle feature calculation by two different geometric models and results’ fusion. Finally, a specific definition of the coordinate frame system is introduced to solve the relative pose with respect to the uncooperative target. In order to validate the efficiency of the segmentation, an experimental test is conducted based on real-time image data acquired by the ToF camera. The total time consumption is saved by 94%. In addition, numerical simulations are carried out to evaluate the proposed navigation algorithm. It shows good robustness under the different levels of noises.https://www.mdpi.com/1424-8220/21/24/8495on-orbit serviceuncooperative spacecraftrelative poseToF cameracircle features |
| spellingShingle | Yue Liu Shijie Zhang Xiangtian Zhao Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature Sensors on-orbit service uncooperative spacecraft relative pose ToF camera circle features |
| title | Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature |
| title_full | Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature |
| title_fullStr | Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature |
| title_full_unstemmed | Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature |
| title_short | Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature |
| title_sort | relative pose determination of uncooperative spacecraft based on circle feature |
| topic | on-orbit service uncooperative spacecraft relative pose ToF camera circle features |
| url | https://www.mdpi.com/1424-8220/21/24/8495 |
| work_keys_str_mv | AT yueliu relativeposedeterminationofuncooperativespacecraftbasedoncirclefeature AT shijiezhang relativeposedeterminationofuncooperativespacecraftbasedoncirclefeature AT xiangtianzhao relativeposedeterminationofuncooperativespacecraftbasedoncirclefeature |