mike safyan isu personal assignment presentation - rendezvous algorithm
DESCRIPTION
This is the presentation for my personal assignment as part of my master\'s curriculum at the International Space University. The goal was to develop an image processing algorithm to estimate the relative position and attitude of a cooperative target spacecraft.TRANSCRIPT
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POSITION AND ATTITUDE ESTIMATIONUSING A CAMERA TYPE RENDEZVOUS SENSOR
Personal Assignment by: Michael SafyanFaculty Advisor: Hideto SuzukiMarch 12, 2010
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RF Sensor
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Scanning Laser Range Finder
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Camera Sensor
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VisNav System
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MDR Vision System
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ETS-VII
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Orbital Express
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Orbital Express
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Rendezvous Sensor System Requirements
• 1% of the range• a few centimeters in the lateral direction• 1 deg for attitude• 1 cm/s for axial and lateral rates• 0.1 deg/s for angular rates
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Textbook Algorithm
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My Algorithm
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My Algorithm
• Range:
• LOS:
• Pitch/Yaw:
• Roll:
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Experimental Setup
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Results
Parameter Error
Range (%) 3.1
Rx (cm) 1.6
Ry (cm) 0.6
roll (deg) 1.5
pitch (deg) 6.8
yaw (deg) 9.0