Robust on-manifold optimization for uncooperative space relative navigation with a single camera

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dc.contributor.authorRondao, Duarte
dc.contributor.authorAouf, Nabil
dc.contributor.authorRichardson, Mark A.
dc.contributor.authorDubanchet, Vincent
dc.date.accessioned2021-04-20T15:29:15Z
dc.date.available2021-04-20T15:29:15Z
dc.date.issued2021-03-31
dc.description.abstractOptical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power, and cost properties when compared with conventional flight hardware or costly laser-based systems. However, a camera cannot infer depth information on its own, which is often solved by introducing complementary sensors or a second camera. In this paper, an innovative model-based approach is demonstrated to estimate the six-dimensional pose of a target relative to the chaser spacecraft using solely a monocular setup. The observed facet of the target is tackled as a classification problem, where the three-dimensional shape is learned offline using Gaussian mixture modeling. The estimate is refined by minimizing two different robust loss functions based on local feature correspondences. The resulting pseudomeasurements are processed and fused with an extended Kalman filter. The entire optimization framework is designed to operate directly on the SE(3) manifold, uncoupling the process and measurement models from the global attitude state representation. It is validated on realistic synthetic and laboratory datasets of a rendezvous trajectory with the complex spacecraft Envisat, demonstrating estimation of the relative pose with high accuracy over full tumbling motion. Further evaluation is performed on the open-source SPEED dataset.en_UK
dc.identifier.citationRondao D, Aouf N, Richardson MA, Dubanchet V. (2021) Robust on-manifold optimization for uncooperative space relative navigation with a single camera. Journal of Guidance, Control, and Dynamics, Volume 44, Issue 6, June 2021, pp. 1157-1182en_UK
dc.identifier.issn0731-5090
dc.identifier.urihttps://doi.org/10.2514/1.G004794 Sections
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/16605
dc.language.isoenen_UK
dc.publisherAIAAen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectExtended Kalman Filteren_UK
dc.subjectEnvisaten_UK
dc.subjectGaussian Mixture Modelsen_UK
dc.subjectOptical Sensoren_UK
dc.subjectImage Registrationen_UK
dc.subjectConvolutional Neural Networken_UK
dc.subjectCumulative Distribution Functionen_UK
dc.subjectComputer Aided Designen_UK
dc.subjectSynthetic Aperture Radaren_UK
dc.subjectArtificial Satellitesen_UK
dc.titleRobust on-manifold optimization for uncooperative space relative navigation with a single cameraen_UK
dc.typeArticleen_UK

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