Pose Determination for Malfunctioned Satellites Based on Depth Information
Autonomous on-orbit servicing is the future space activity which can be utilized to extend the satellite life. Relative pose estimation for a malfunctioned satellite is one of the key technologies to achieve robotic on-orbit servicing. In this paper, a relative pose determination method by using poi...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/6895628 |
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| author | Feng Yu Yi Zhao Yanhua Zhang |
| author_facet | Feng Yu Yi Zhao Yanhua Zhang |
| author_sort | Feng Yu |
| collection | DOAJ |
| description | Autonomous on-orbit servicing is the future space activity which can be utilized to extend the satellite life. Relative pose estimation for a malfunctioned satellite is one of the key technologies to achieve robotic on-orbit servicing. In this paper, a relative pose determination method by using point cloud is presented for the final phase of the rendezvous and docking of malfunctioned satellites. The method consists of three parts: (1) planes are extracted from point cloud by utilizing the random sample consensus algorithm. (2) The eigenvector matrix and the diagonal eigenvalue matrix are calculated by decomposing the point cloud distribution matrix of the extracted plane. The eigenvalues are utilized to recognize rectangular planes, and the eigenvector matrix is the attitude rotation matrix from the sensor to the plane. The solution of multisolution problem is also presented. (3) An extended Kalman filter is designed to estimate the translational states, the rotational states, the location of mass center, and the moment-of-inertia ratios. Because the method only utilizes the local features without observing the whole satellite, it is suitable for the final phase of rendezvous and docking. The algorithm is validated by a series of mathematical simulations. |
| format | Article |
| id | doaj-art-32ea8ea9fae34a6cbc0439de90262670 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-32ea8ea9fae34a6cbc0439de902626702025-02-03T05:44:17ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/68956286895628Pose Determination for Malfunctioned Satellites Based on Depth InformationFeng Yu0Yi Zhao1Yanhua Zhang2College of Astronautics, Nanjing University of Aeronautics and Astronautics, 210016, ChinaCollege of Astronautics, Nanjing University of Aeronautics and Astronautics, 210016, ChinaCollege of Astronautics, Nanjing University of Aeronautics and Astronautics, 210016, ChinaAutonomous on-orbit servicing is the future space activity which can be utilized to extend the satellite life. Relative pose estimation for a malfunctioned satellite is one of the key technologies to achieve robotic on-orbit servicing. In this paper, a relative pose determination method by using point cloud is presented for the final phase of the rendezvous and docking of malfunctioned satellites. The method consists of three parts: (1) planes are extracted from point cloud by utilizing the random sample consensus algorithm. (2) The eigenvector matrix and the diagonal eigenvalue matrix are calculated by decomposing the point cloud distribution matrix of the extracted plane. The eigenvalues are utilized to recognize rectangular planes, and the eigenvector matrix is the attitude rotation matrix from the sensor to the plane. The solution of multisolution problem is also presented. (3) An extended Kalman filter is designed to estimate the translational states, the rotational states, the location of mass center, and the moment-of-inertia ratios. Because the method only utilizes the local features without observing the whole satellite, it is suitable for the final phase of rendezvous and docking. The algorithm is validated by a series of mathematical simulations.http://dx.doi.org/10.1155/2019/6895628 |
| spellingShingle | Feng Yu Yi Zhao Yanhua Zhang Pose Determination for Malfunctioned Satellites Based on Depth Information International Journal of Aerospace Engineering |
| title | Pose Determination for Malfunctioned Satellites Based on Depth Information |
| title_full | Pose Determination for Malfunctioned Satellites Based on Depth Information |
| title_fullStr | Pose Determination for Malfunctioned Satellites Based on Depth Information |
| title_full_unstemmed | Pose Determination for Malfunctioned Satellites Based on Depth Information |
| title_short | Pose Determination for Malfunctioned Satellites Based on Depth Information |
| title_sort | pose determination for malfunctioned satellites based on depth information |
| url | http://dx.doi.org/10.1155/2019/6895628 |
| work_keys_str_mv | AT fengyu posedeterminationformalfunctionedsatellitesbasedondepthinformation AT yizhao posedeterminationformalfunctionedsatellitesbasedondepthinformation AT yanhuazhang posedeterminationformalfunctionedsatellitesbasedondepthinformation |