mike safyan isu personal assignment presentation - rendezvous algorithm
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This is the presentation for my personal assignment as part of my master\'s curriculum at the International Space University. The goal was to develop an image processing algorithm to estimate the relative position and attitude of a cooperative target spacecraft.
TRANSCRIPT
POSITION AND ATTITUDE ESTIMATIONUSING A CAMERA TYPE RENDEZVOUS SENSOR
Personal Assignment by: Michael SafyanFaculty Advisor: Hideto SuzukiMarch 12, 2010
RF Sensor
Scanning Laser Range Finder
Camera Sensor
VisNav System
MDR Vision System
ETS-VII
Orbital Express
Orbital Express
Rendezvous Sensor System Requirements
• 1% of the range• a few centimeters in the lateral direction• 1 deg for attitude• 1 cm/s for axial and lateral rates• 0.1 deg/s for angular rates
Textbook Algorithm
My Algorithm
My Algorithm
• Range:
• LOS:
• Pitch/Yaw:
• Roll:
Experimental Setup
Results
Parameter Error
Range (%) 3.1
Rx (cm) 1.6
Ry (cm) 0.6
roll (deg) 1.5
pitch (deg) 6.8
yaw (deg) 9.0
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