
Proceedings Paper
POSE algorithms for automated dockingFormat | Member Price | Non-Member Price |
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Paper Abstract
POSE (relative position and attitude) can be computed in many different ways. Given a sensor that measures bearing to
a finite number of spots corresponding to known features (such as a target) of a spacecraft, a number of different
algorithms can be used to compute the POSE. NASA has sponsored the development of a flash LIDAR proximity
sensor called the Vision Navigation Sensor (VNS) for use by the Orion capsule in future docking missions. This sensor
generates data that can be used by a variety of algorithms to compute POSE solutions inside of 15 meters, including at
the critical docking range of approximately 1-2 meters. Previously NASA participated in a DARPA program called
Orbital Express that achieved the first automated docking for the American space program. During this mission a large
set of high quality mated sensor data was obtained at what is essentially the docking distance. This data set is perhaps
the most accurate truth data in existence for docking proximity sensors in orbit. In this paper, the flight data from
Orbital Express is used to test POSE algorithms at 1.22 meters range. Two different POSE algorithms are tested for two
different Fields-of-View (FOVs) and two different pixel noise levels. The results of the analysis are used to predict
future performance of the POSE algorithms with VNS data.
Paper Details
Date Published: 23 May 2011
PDF: 10 pages
Proc. SPIE 8044, Sensors and Systems for Space Applications IV, 80440T (23 May 2011); doi: 10.1117/12.887022
Published in SPIE Proceedings Vol. 8044:
Sensors and Systems for Space Applications IV
Khanh D. Pham; Henry Zmuda; Joseph Lee Cox; Greg J. Meyer, Editor(s)
PDF: 10 pages
Proc. SPIE 8044, Sensors and Systems for Space Applications IV, 80440T (23 May 2011); doi: 10.1117/12.887022
Show Author Affiliations
Andrew F. Heaton, NASA Marshall Space Flight Ctr. (United States)
Richard T. Howard, NASA Marshall Space Flight Ctr. (United States)
Published in SPIE Proceedings Vol. 8044:
Sensors and Systems for Space Applications IV
Khanh D. Pham; Henry Zmuda; Joseph Lee Cox; Greg J. Meyer, Editor(s)
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