Hardware-in-the-Loop Simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors.

Ksenia Klionovska,Matthias Burri

doi:10.3390/s21041455

Abstract

This paper addresses the validation of a robust vision-based pose estimation technique using a Photonic Mixer Device (PMD) sensor as a single visual sensor in the close-range phase of spacecraft rendezvous. First, it was necessary to integrate the developed hybrid navigation technique for the PMD sensor into the hardware-in-the-loop (HIL) rendezvous system developed by the German Aerospace Center (DLR). Thereafter, HIL tests were conducted using the European Proximity Operation Simulator (EPOS) with sun simulation and in total darkness. For the future missions with an active sensor, e.g., a PMD camera, it could be useful to use only its own illumination during the rendezvous phase in penumbra or umbra, instead of additional flash light. In some tests, the rotational rate of the target object was also tuned. Unlike the rendezvous tests in other works, here we present for the first time closed-loop approaches with only depth and amplitude images of a PMD sensor. For the rendezvous tests in the EPOS laboratory, the Argos3D camera was used at the range of 8 to 5.5 m; the performance showed promising results.

Highlights

Autonomous space rendezvous is an important part of On-Orbit Servicing (OOS) and Active Debris Removal (ADR) missions
This paper addresses the validation of a robust vision-based pose estimation technique using a Photonic Mixer Device (PMD) sensor as a single visual sensor in the close-range phase of spacecraft rendezvous
Unlike the rendezvous tests in other works, here we present for the first time closed-loop approaches with only depth and amplitude images of a PMD sensor

Summary

Introduction

Autonomous space rendezvous is an important part of On-Orbit Servicing (OOS) and Active Debris Removal (ADR) missions. The demands for these missions are increasing continuously due to the high number of non-operational satellites, spent rocket stages and other different pieces of debris [1], which threaten the International Space Station and other operational satellites. During OOS and ADR missions, different services can be provided: replacement of failed subsystems, refueling of propellant, replenishment of a spacecraft’s components (e.g., batteries or solar arrays), extension of a mission (e.g., software and hardware upgrades) or complete deorbiting of a non-operational space object. OOS and ADR mission scenarios consider at least two space objects: a servicer satellite and a target object. The target object may tumble, making it more difficult to determine its pose

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Conclusion