PDF(1186 KB)
A Method for Estimating Motion State of Small Bodies Based on Fusion of Camera and LIDAR
- CHEN You1,2, GUO Jinrong1,2, LIU Yanjie1,2, SHAO Wei1,2, HUANG Xiangyu3
Author information
+
1. College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266100, China;
2. Shandong Key Laboratory of Autonomous Landing for Deep Space Exploration, Qingdao 266100, China;
3. Beijing Institute of Control Engineering, Beijing 100094, China
Show less
History
+
Received |
Revised |
Published |
31 Mar 2023 |
15 Nov 2023 |
26 Mar 2024 |
Issue Date |
|
26 Mar 2024 |
|
Abstract
Only one vision sensor is incompetent for estimating the motion state of small body. In order to solve this problem, a small body motion state estimation method based on the fusion of camera and LIDAR was proposed. Firstly, a fused camera and LIDAR measurement model was built. By tracking image feature points with depth information, extended Kalman filter was used to estimate the spin angular velocity, spin axis direction, position and velocity of small body. Secondly, a feature fusion matrix was designed to achieve real-time updates of image feature points, point clouds, and fused feature points. Thirdly, the effectiveness of this algorithm and the impact of the number of feature points, observation height, and noise on the algorithm were analyzed. Simulation results show that the accuracy of the proposed algorithm is significantly higher than that of the spin parameter estimation algorithm of small bodies based on monocular camera.
Keywords
information fusion /
small body /
motion state estimation /
extended Kalman filtering
Cite this article
Download citation ▾
CHEN You, GUO Jinrong, LIU Yanjie, SHAO Wei, HUANG Xiangyu.
A Method for Estimating Motion State of Small Bodies Based on Fusion of Camera and LIDAR. Journal of Deep Space Exploration, 2024, 11(1): 63‒70 https://doi.org/10.15982/j.issn.2096-9287.2024.20230039
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
This is a preview of subscription content, contact
us for subscripton.
References
[1] 崔平远,赵冬越,朱圣英,等. 小天体主动附着制导与控制技术研究进展[J]. 宇航学报,2021,42(9):1057-1066.
CUI P Y,ZHAO D Y,ZHU S Y,et al. Research progress of guidance and control technologies for active landing on small celestial bodies[J]. Journal of Astronautics,2021,42(9):1057-1066.
[2] DE LEÓN J,CAMPINS H,MORATE D,et al. Expected spectral characteristics of (101955) Bennu and (162173) Ryugu,targets of the OSIRIS-REx and Hayabusa2 missions[J]. Icarus,2018,313:25-37.
[3] 黄翔宇,徐超,胡荣海,等. 小行星动能撞击自主导航与制导方法研究[J]. 深空探测学报(中英文),2022,9(4):438-446.
HUANG X Y,XU C,HU R H,et al. Autonomous navigation and guidance for asteroid kinetic impact mission[J]. Journal of Deep Space Exploration,2022,9(4):438-446.
[4] PESCE V,HAYDAR M F,LAVAGNA M,et al. Comparison of filtering techniques for relative attitude estimation of uncooperative space objects[J]. Aerospace Science and Technology,2019,84:318-328.
[5] 崔平远,邵巍,崔祜涛. 绕飞过程中小天体三维模型重构及探测器运动估计研究[J]. 宇航学报,2010,31(5):1381-1389.
CUI P Y,SHAO W,CUI H T. 3-D small body model reconstruction and spacecraft motion estimation during fly-around[J]. Journal of Astronautics,2010,31(5):1381-1389.
[6] ELANKUMARAN K,DEMPSTER A G. Probabilistic approach to the autonomous navigation of distributed spacecraft near small celestial bodies[J]. Acta Astronautica,2021,182:517-530.
[7] GE D,CUI P,ZHU S. Recent development of autonomous GNC technologies for small celestial body descent and landing[J]. Progress in Aerospace Sciences,2019,110:100551.
[8] LIU C,HU W. Relative pose estimation for cylinder-shaped spacecrafts using single image[J]. IEEE Transactions on Aerospace and Electronic Systems,2014,50(4):3036-3056.
[9] BROIDA T J,CHANDRASHEKHAR S,CHELLAPPA R. Recursive 3-D motion estimation from a monocular image sequence[J]. IEEE Transactions on Aerospace and Electronic Systems,1990,26(4):639-656.
[10] 毕思博. 接近段小天体三维建模和旋转轴方向估计[D]. 哈尔滨:哈尔滨工业大学,2020.
BI S B. 3D modeling and rotation axis direction estimation for the approach phase of small celestial body[D]. Harbin:Harbin Institute of Technology,2020.
[11] PESCE V,OPROMOLLA R,SARNO S,et al. Autonomous relative navigation around uncooperative spacecraft based on a single camera[J]. Aerospace Science and Technology,2019,84:1070-1080.
[12] PANICUCCI P,LEBRETON J,BROCHARD R,et al. Vision-based estimation of small body rotational state during the approach phase[EB/OL].(2023)[2023-03-31]. https://doi.org/10.48550/arXiv.2302.11364.
[13] VOLPE R,PALMERINI G B,SABATINI M. A passive camera based determination of a non-cooperative and unknown satellite’s pose and shape[J]. Acta Astronautica,2018,151:805-817.
[14] SHARMA S. Comparative assessment of techniques for initial pose estimation using monocular vision[J]. Acta Astronautica,2016,123:435-445.
[15] TURAN E,SPERETTA S,GILL E. Autonomous navigation for deep space small satellites:scientific and technological advances[J]. Acta Astronautica,2022,193:56-57.
[16] OHIRA G,KASHIOKA S,TAKAO Y,et al. Autonomous image-based navigation using vector code correlation algorithm for distant small body exploration[J]. Acta Astronautica,2022,196:400-413.
[17] YU F,HE Z,WU Y,et al. Adaptive estimation of attitude and angular velocity of malfunctioned satellites for on-orbit servicing[J]. Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2016,230(13):2425-2446.
[18] JAZAR R N. Theory of applied robotics:kinematics,dynamics,and control[M]. Berlin: Springer,2010:91-148.
[19] XU X,SHEN Z,ZHAO J,et al. Rotational motion estimation of non-cooperative target in space based on the 3D point cloud sequence[J]. Advances in Space Research,2022,69(3):1528-1537.
[20] MAHAPATRA S,MOHAPATRA S K,SWAIN B R,et al. Simulation based algorithm for tracking multi-moving object using gaussian filtering with Lucas-Kanade approach[J]. Procedia Computer Science,2015,48:789-794.
[21] VISHNIAKOU I,PLOGER P G,SEELIG J D. Virtual reality for animal navigation with camera-based optical flow tracking[J]. Journal of Neuroscience Methods,2019,327:108403.
[22] 刘鹏,倪郑鸿远,赵巍,等. 一种小天体旋转参数估计方法[J]. 空间控制技术与应用,2020,46(6):20-27.
LIU P,NI Z H Y,ZHAO W,et al. A method for estimating rotation parameters of small body[J]. Aerospace Contrd and Application,2020,46(6):20-27.
[23] BARBIER T,GAO Y. Relative visual navigation around an unknown and uncooperative spacecraft[J]. Acta Astronautica,2023,206:144-155.