Feature-tracking Based Pose Estimation for Autonomous Rendezvous and Docking

摘要：

Schemes for feature tracking and relative pose estimation for the final approach of rendezvous and docking procedure is proposed in this paper. Positions of the feature points were predicted by Kalman filter proposed to reduce the searching area, which effectively increased both the calculation speed and the anti-disturbance ability. Relative pose information was retrieved from solving the 3 points problem, and was taken as input of the control loop to navigate the target spacecraft to a fixed position. A vision based RVD simulation platform was built upon the on-ground semi-physical experiment platform, and experiment results showed that the proposed algorithm successfully reduced the searching error and greatly enhanced the calculation speed.

作者: Daihou Wang Hanghang Ren Yiran Wu Changhong Wang

作者单位: Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin,150001,C Institute of Technology,Harbin,150001,China.

会议类型: 国际会议

会议名称: The 3rd International Symposium on Systems and Control in Aeronautics and Astronautics(第三届航空航天系统与控制国际会议 ISSCAA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1201-1206

在线出版日期: 2010-01-08（万方平台首次上网日期，不代表论文的发表时间）