Rectangular-structure-based pose estimation method for non-cooperative rendezvous.

Area of Science:

• Robotics and Spacecraft Engineering
• Computer Vision

Background:

• Accurate relative pose estimation between spacecraft is vital for proximity operations and space missions.
• Non-cooperative target pose estimation presents challenges due to unknown characteristics.

Purpose of the Study:

• To develop an accurate and robust algorithm for spacecraft pose estimation using stereovision.
• To leverage the geometric structure of spacecraft, specifically solar panel corners, as features.

Main Methods:

• Utilizing stereo cameras for capturing target spacecraft imagery.
• Employing solar panel corners as distinctive features for pose calculation.
• Implementing bundle adjustment optimization to enhance estimation accuracy.

Main Results:

• The proposed method demonstrates improved precision and robustness in non-cooperative spacecraft pose estimation.
• Experimental validation shows rotation angle errors within 0.8 degrees.
• Translation measurement errors are less than 0.4% at distances ranging from 1.2m to 3m.

Conclusions:

• The developed stereovision algorithm effectively estimates spacecraft pose by utilizing solar panel features and bundle adjustment.
• The approach offers a reliable solution for relative pose determination in space proximity operations.
• The method achieves high accuracy, validated through simulations and laboratory experiments.