System Design for Pose Determination of Spacecraft Using Timeof-Flight Sensors  

作　　者：Wenshan Zhu Jinzhen Mu Changbao Shao Jiaqian Hu Beichao Wang Zhongkai Wen Fei Han Shuang Li 

机构地区：[1]Advanced Space Technology Laboratory,College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China [2]Shanghai Key Laboratory of Space Intelligent Control Technology,Shanghai 201109,China

出　　处：《Space(Science & Technology)》2022年第1期46-63,共18页空间科学与技术（英文）

基　　金：supported by the National Natural Science Foundation of China(Grant No.11972182 and No.U20B2056);sponsored by the Science and Technology Innovation Action Plan of Shanghai(Grant No.19511120900);funded by the Science and Technology on Space Intelligent Control Laboratory(Grant Nos.HTKJ2020KL502019 and 2021-JCJQ-LB-010-04);sponsored by the National Basic Research Program of China(Grant No.JCKY2018203B036 and No.JCKY2021606B002).

摘　　要：The pose determination between nanosatellites and the cooperative spacecraft is essential for swarm in-orbit services.Timeof–flight(ToF)sensors are one of the most promising sensors to achieve the tasks.This paper presented an end-to-end assessment of how these sensors were used for pose estimation.First,an embedded system was designed based on the ToF camera with lasers as a driven light source.Gray and depth images were collected to detect and match the cooperative spacecraft in real time,obtaining the pose information.A threshold-based segmentation was proposed to find a small set of the pixels belonging to reflector markers.Only operating on the defined active pixel set reduced computational resources.Then,morphological detection combined with an edge following-based ellipse detection extracted the centroid coordinate of the circular marker,while the center-of-heart rate was calculated as the recognition condition.Next,the marker matching was completed using a deterministic annealing algorithm,obtaining two sets of 3D coordinates.A singular value decomposition(SVD)algorithm estimated the relative pose between the nanosatellite and the spacecraft.In the experiments,the pose calculated by the TOF camera reached an accuracy of 0.13 degrees and 2 mm.It accurately identified the markers and determined the pose,verifying the feasibility of the ToF camera for rendezvous and docking.

关 键 词：estimation COORDINATE CIRCULAR 

分 类 号：V42[航空宇航科学与技术—飞行器设计]