Download - Mike Safyan ISU Personal Assignment Presentation - Rendezvous Algorithm

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

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