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A relative navigation application of ULTOR~reg; technology for automated rendezvous and docking

机译：ULTOR〜®技术在自动会合和对接中的相对导航应用

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NASA's initiative for space exploration will require the development of robotic servicing and unmanned resupply of permanent space borne facilities. An enabling technology to accomplish these goals is by sensor systems capable of Rendezvous, Proximity Operations and Docking (RPOD) missions. Marshall Space Flight Center (MSFC) conducted an experiment whose objective intent was to characterize sensor systems for potential use in RPOD scenarios. The MSFC experiment integrated candidate sensors with the Small Air Sled (SAS) on the air bearing floor of the MSFC Flight Robotics Lab. Advanced Optical Systems Inc. (AOS) has developed several different sensor technologies for Automated Rendezvous and Docking (AR&D). For the MSFC experiment, we applied AOS ULTOR~® advanced correlation technology as an AR&D sensor. The ULTOR~® system applied Automatic Target Recognition (ATR) algorithms to provide six-degrees-of-freedom (6DOF) information for target position and attitude. In addition, ULTOR~® provided a data-link interface to the SAS for closed loop guidance and navigation commands. Navigational data from the ULTOR~® system was collected during the experiment and compared to a MSFC truth sensor for position and attitude estimation accuracy. This data will be presented! as well as videos recording the progression of the SAS under ULTOR~® control to the target.
机译：NASA的太空探索计划将需要开发机器人服务和永久性太空载具的无人补给。实现这些目标的一项可行技术是能够执行交会，近距作战和对接（RPOD）任务的传感器系统。马歇尔太空飞行中心（MSFC）进行了一项实验，其目的是表征可能在RPOD场景中使用的传感器系统。 MSFC实验将候选传感器与MSFC飞行机器人实验室空气轴承地板上的小型空气橇（SAS）集成在一起。 Advanced Optical Systems Inc.（AOS）已经为自动交会和对接（AR＆D）开发了几种不同的传感器技术。对于MSFC实验，我们将AOS ULTOR〜®高级关联技术用作AR＆D传感器。 ULTOR〜®系统应用了自动目标识别（ATR）算法，可为目标位置和姿态提供六自由度（6DOF）信息。另外，ULTOR〜®提供了到SAS的数据链接接口，用于闭环引导和导航命令。实验期间收集了来自ULTOR®系统的导航数据，并将其与MSFC真相传感器进行比较，以获取位置和姿态估计的准确性。将显示此数据！以及记录在ULTOR〜®控制下SAS向目标进展的视频。

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