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Proceedings Paper

CANEX-2 space vision system experiments for Shuttle Flight STS-54
Author(s): H. F. L. Pinkney; C. I. Perratt; S. G. MacLean
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Paper Abstract

During the design/development of the Canadarm Remote Manipulator System (RMS) in the 1970's for the NASA Space Shuttle, the NRCC, National Aeronautical Establishment, Structures and Materials Laboratory initiated the development of an Online 30 Hz Video Real-Time Photogrammetry System (RPS) for Real-Time 3-Dimensional Control. With the initiation of the Canadian Astronaut Program and Canada's participation in the Space Station, a protoflight Space Vision System, based on the RPS technology, was designed and built for integration with the Shuttle Closed-Circuit Television System (CCTV). The SVS accepts one or two CCTV selected camera inputs and provides, as output, a real-time display of the photogrammetrically derived 6-degree of freedom guidance information to the RMS operator in symbolic and alphanumeric form. The SVS makes it possible, for the first time, to carry out a series of Shuttle-Manipulation tasks in the weightless/thermal/lighting environment of space using real-time guidance information. This paper describes the basic multi- processor architecture of the SVS, the photogrammetric algorithm(s) defined multiple target array payload and targeted berthing hardware, the pre-flight camera calibration set-up procedures, and the on-orbit reference calibration procedures for task related coordinate transformations to cater for thermally changing shuttle-RMS deformations. The series of experiments and graphic displays, supported by the task configuration database software of the SVS, will be summarized.

Paper Details

Date Published: 1 August 1990
PDF: 8 pages
Proc. SPIE 1395, Close-Range Photogrammetry Meets Machine Vision, 13951C (1 August 1990); doi: 10.1117/12.2294291
Show Author Affiliations
H. F. L. Pinkney, National Aeronautical Establishment, National Research Council Canada (Canada)
C. I. Perratt, National Aeronautical Establishment, National Research Council Canada (Canada)
S. G. MacLean, Canadian Astronaut Program, Canadian Space Agency (Canada)

Published in SPIE Proceedings Vol. 1395:
Close-Range Photogrammetry Meets Machine Vision
Armin Gruen; Emmanuel P. Baltsavias, Editor(s)

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