Design and testing of a vision based navigation system for a spacecraft formation flying simulator

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1 Design and testing of a vision based navigation system for a spacecraft formation flying simulator PhD student: Supervisor: Prof. Enrico Lorenzini Co-supervisor: Ing. Marco Pertile, Ing. Andrea Valmorbida CISAS G.Colombo Center of Studies and Activities for Space October 23, 2015 DIPARTIMENTO DI INGEGNERIA INDUSTRIALE Development of a camera-aided optical mouse sensors based localization system for a free floating planar robot 1

2 Outline Background and motivation The SPARTANS project Second year activities: overview Localization system prototype Software development Fly Your Thesis! PACMAN project Conclusions 2

3 SPARTANS Project Motivation SPACE DEBRIS The major risk to space missions European Space Agency Clean Space Initiative Debris Mitigation Re-entry in LEO Debris Remediation Active removal of decommissioned spacecraft Automated Rendezvous and Docking (AR&D) On-Orbit Servicing and Assembly (OS&A) New kind of Actuators, Sensors and GN&C systems Satellite Formation Flight (SFF) Validation of hardware and software Advanced Guidance, Navigation and Control (GN&C) Algorithms Education Satellite Navigation Rendezvous and Capture with a noncooperating target Sensors and Actuators for relative motion estimation and control Ground-based Testbed SPARTANS PROJECT Scientific Research Space Robotics Electrodynamic Tethers Space Instrumentation Automatic Control Space Systems 3

4 SPARTANS Project Overview SPARTANS: cooperating SPAcecRaft Testbed for Autonomous proximity operations experiments Representative dynamic environment for the development and verification on ground of: Sensors and algorithms for relative navigation; Coupled position and attitude control algorithms. ATTITUDE MODULE (AM) three rotational degrees of freedom provided by mechanical gimbals TRANSLATIONAL MODULE (TM) two position degrees of freedom traslating on a glass-covered table using a low friction air cushion system 4

5 Localization System Prototype Overview Main objectives development of a first prototype of the localization system for the SPARTANS testbed. determine the position and orientation of the TM with respect to a global inertial reference frame. Measurement Testbed Experimental Setup 1 USB Camera (1280 x 720 resolution) 3 Optical Mouse Sensors (Avago Technologies ADNS 3080) On-board electronics (Arduino Uno) Z Contactless measurement system High-frequency acquisition Good accuracy in the short term period Low-frequency acquisition system Reset the uncertainty level of the high frequency segment θ Y X On-board fiducial markers Translational Module Ground-based fiducial markers 5

6 Publications 2015 Valmorbida A., Tronco S, Mazzucato M, Debei S, Lorenzini E C (2015). Optical Flow Sensor based Localization System for a Cooperating Spacecraft Testbed. In: Metrology for Aerospace (MetroAeroSpace), 2015 IEEE. p , Benevento. Valmorbida A, Mazzucato M, Tronco S, Debei S, Lorenzini E C (2015). SPARTANS - A cooperating spacecraft testbed for autonomous proximity operations experiments. In: Instrumentation and Measurement Technology Conference (I2MTC), 2015 IEEE International. p , Pisa, May Pertile M, Mazzucato M, Bottaro L, Chiodini S, Debei S, Lorenzini E C (2015). Uncertainty evaluation of a vision system for pose measurement of a spacecraft with fiducial markers. In: Metrology for Aerospace (MetroAeroSpace), 2015 IEEE. p , Benevento Mazzucato M, Tronco S, Valmorbida A, Scibona F, Lorenzini E C (2016). Development of a groundbased cooperating spacecraft testbed for research and education. 1 st symposium on space educational activities, Padova. Mazzucato M, Valmorbida A, Tronco S, Costantini M, Debei S, Lorenzini E (2016). Development of a camera-aided optical mouse sensors based localization system for a free floating planar robot. In: Metrology for Aerospace (MetroAeroSpace), 2016 IEEE. 14

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