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Relative position and attitude estimation of spacecrafts based on dual quaternion for rendezvous and docking |
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| Institution: | 1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, P.O.Box 315, 29 Yudao Street, Nanjing 210016, P.R.China;2. Institute of Aerospace System Engineering Shanghai, 3888 Yuanjiang Road, Minhang District, Shanghai 201109, P.R.China;1. School of Automation, Northwestern Polytechnical University, Xi''an, Shannxi 710072, China;2. Department of Mechanical Engineering, York University, Toronto, Ontario M3J 1P3, Canada;1. Federal University of ABC (UFABC), São Bernardo do Campo, SP, Brazil;2. Federal University of Minas Gerais (UFMG), Belo Horizonte, MG, Brazil;3. Technological Institute of Aeronautics (ITA), São José dos Campos, SP, Brazil;1. Beijing Institute of Control Engineering, Haidian District, Beijing 100190, China;2. Science and Technology on Space Intelligent Control Laboratory, Haidian District, Beijing 100094, China;3. Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology, Binhai District, Tianjin 300301, China |
| Abstract: | The capacity to acquire the relative position and attitude information between the chaser and the target satellites in real time is one of the necessary prerequisites for the successful implementation of autonomous rendezvous and docking. This paper addresses a vision based relative position and attitude estimation algorithm for the final phase of spacecraft rendezvous and docking. By assuming that the images of feature points on the target satellite lie within the convex regions, the estimation of the relative position and attitude is converted into solving a convex optimization problem in which the dual quaternion method is employed to represent the rotational and translational transformation between the chaser body frame and the target body frame. Due to the point-to-region correspondence instead of the point-to-point correspondence is used, the proposed estimation algorithm shows good performance in robustness which is verified through computer simulations. |
| Keywords: | Rendezvous and docking Dual quaternion Relative position and attitude estimation Spacecraft Autonomous on-orbit servicing |
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