Post on 13-Jun-2015
description
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