Vision-Based Relative Navigation and Control for Autonomous Spacecraft Inspection of an Unknown Object
Dehann, Fourie, et al. (2013). "Vision-Based Relative Navigation and Control for Autonomous Spacecraft Inspection of an Unknown Object." AIAA Guidance, Navigation, and Control (GNC) Conference
The paper describes a vision-based relative navigation and control strategy for inspecting an unknown and non-cooperative object in space using a visual-inertial system. The proposed inspection spacecraft system relies solely on a calibrated stereo camera and a 3-axis gyroscope to maintain a safe inspection distance while following a circle trajectory around the object. The navigation system is based on image processing algorithms which extract the relative position and velocity between the inspector and the object, and a simple control approach is used to ensure the desired range and bearing are maintained throughout the inspection maneuver. Hardware implantation details of the VERTIGO Goggles system are provided, and design consideration related to the additional for the stereo camera system and associate processor unity to the SPHERES satellites are discussed. Computer simulation results, and experiment conducted aboard the International Space Station during Expeditions 34 are reported to demonstrate the performance and applicability of the proposed hardware and related navigation and control systems to inspect an unknown spacecraft.
DOI: doi:10.2514/6.2013-4759 10.2514/6.2013-4759