NDLI: Vision-based relative state estimation of non-cooperative spacecraft under modeling uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Segal, S. Carmi, A. Gurfil, P.
Copyright Year	2011
Description	Author affiliation: Technion-Israel Institute of Technology, Haifa 32000, Israel (Segal, S.; Carmi, A.; Gurfil, P.)
Abstract	Estimating the relative pose and motion of cooperative satellites using on-board sensors is a challenging problem. When the satellites are non-cooperative, the problem becomes far more complicated, as there might be poor or no a priori information about the motion or structure of the target satellite. In this work we develop robust algorithms for solving the said problem by assuming that only visual sensory information is available. Using two cameras mounted on a chaser satellite, the relative state of a target satellite, including the position, attitude, and rotational and translational velocities is estimated. Our approach employs a stereoscopic vision system for tracking a set of feature points on the target spacecraft. The perspective projection of these points on the two cameras constitutes the observation model of an EKF-based filtering scheme. In the final part of this work, the relative motion filtering algorithm is made robust to uncertainties in the inertia tensor. This is accomplished by endowing the plain EKF with a maximum a posteriori identification scheme for determining the most probable inertia tensor from several available hypotheses.
Starting Page	1
Ending Page	8
File Size	219879
Page Count	8
File Format	PDF
ISBN	9781424473502
ISSN	1095323X
e-ISBN	9781424473519
DOI	10.1109/AERO.2011.5747479
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-03-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Space vehicles Tensile stress Satellites Cameras Uncertainty Robustness Couplings
Content Type	Text
Resource Type	Article
Subject	Aerospace Engineering Space and Planetary Science

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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