Vision Based Sensor and Navigation System for Autonomous基于视觉的自主式传感器与导航系统.pptVIP

1 May 1998 VISION BASED RELATIVE NAVIGATION FOR AUTONOMOUS PROXIMITY OPERATIONSGuidance, Navigation, and Control Technical Committee Lunch ‘n LearnNASA Johnson Space Center8 January 2004 Ideal Scenario Quickly arrive at a space object Perform maneuvers without: months of planning intersatellite communication Utilize small mission operations center Desired Functionality Inspection Anomaly assessment Formation flying On-orbit servicing Requirements Three-axis stable Autonomously detect location and maintain attitude Sensing relative position and velocity when in proximity to another object Non-cooperative objects Low power consumption Advanced autonomous event planning Forward thinking resource manager Only two or three people should be required to plan and monitor the S/C Pattern recognition and visual servoing using a CCD camera to provide the line of sight vector for end game docking maneuver Reduced effectiveness in poor optical conditions (sunlight, etc.) Depth of Field camera must be able to focus over very long and very short distances Accuracy determination of 3D position coordinates from 2D images Requires very high camera resolution (appx. 106 pixel data on each frame) Reliable pattern recognition greater than 85% reliability is difficult to achieve, even in a perfect laboratory setting Requires high computational speed and data bandwidth current data bandwidth is only 40 Hz with intermediate resolution Optical sensor with active structured beacon lights that provides an accurate, high speed 6-DOF navigation solution for the mid to end game docking maneuver. Update rate of 100 Hz and high precision under optimum conditions. Reduced risk: Feasible at current level of optical sensing technology Concept validated with hardware in laboratory experiments States Measurements (n ? 4) Measurement Sensitivity Matrix Measurement Residuals Linearize about estimated (reference) states Zero acceleration model (or IMU) States