Pose Estimation for Cubesat Docking

Robert J. Waller; Lourens Visagie

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Pose Estimation for Cubesat Docking

机译：CubeSat对接的姿态估计

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The docking of two satellites requires accurate estimates of relative position and attitude. This paper describes a LED marker based pose estimation method that can be incorporated into a docking subsystem. The paper further reports on the accuracy of the method. The results are compared to that obtained by Jansen (2020), where ArUco markers and a fixed observation camera are used. The LED marker pose estimation system is to demonstrated on a planar air-bearing table with gas propelled carts in a closed-loop control experiment, where the ArUco system will serve as the ground truth measurements. It was concluded that the LED marker system could be at least as accurate as the ArUco marker system however issues with lens distortion caused deterioration in the accuracy when the LED markers were not in the centre of the image.

机译：两个卫星的对接需要准确的相对位置和态度的估计。本文介绍了一种基于LED标记的姿势估计方法，其可以结合到对接子系统中。本文进一步报道了方法的准确性。将结果与Jansen（2020）获得的结果进行比较，其中使用Aruco标记和固定观察相机。 LED标记姿势估计系统是在闭环控制实验中的气体推进推车的平面空气轴承座上展示，其中ARUCO系统将作为地面真理测量。得出结论是，LED标记系统至少与ARUCO标记系统一样准确，然而，当LED标记不在图像的中心时，透镜失真的问题导致精度的劣化。

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《IFAC PapersOnLine》 |2021年第21期|共6页
作者
Robert J. Waller; Lourens Visagie;
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GuidanceNavigationControlSatellitesPose EstimationDockingComputer Vision;

机译：GuidancenavigationControlSatelliteSpose估算DockingComputer Vision.;

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2. Head pose estimation method based on pose manifold and tensor decomposition [J] . Wei Wei, Yanning Zhang, Chunna Tian 系统工程与电子技术：英文版 . 2010,第005期
3. Head pose estimation method based on pose manifold and tensor decomposition [J] . Wei Wei, Yanning Zhang, Chunna Tian 系统工程与电子技术（英文版） . 2010,第005期
4. Forward-Kinematics-Based Approaches for Pose Accuracy of Docking Mechanism with Joint Clearance [J] . Li Jianguang, Ding Jian, Yao Yingxue, 南京航空航天大学学报（英文版） . 2015,第004期
5. Improving the accuracy of pose prediction in molecular docking via structural filtering and conformational clustering [J] . Shi-Ming Peng, Yu Zhou, Niu Huang 中国化学快报（英文版） . 2013,第011期
6. Vision-Based Spacecraft Pose Estimation via a Deep Convolutional Neural Network for Noncooperative Docking Operations [J] . Thaweerath Phisannupawong, Patcharin Kamsing, Peerapong Torteeka, Aerospace . 2020,第9期

机译：基于视觉的航天器通过深度卷积神经网络进行非自由作对接操作的展开估计
7. Detection and Pose Estimation for Short-Range Vision-Based Underwater Docking [J] . Liu Shuang, Ozay Mete, Okatani Takayuki, Quality Control, Transactions . 2019,第期

机译：基于短距离视觉的水下对接的检测和姿态估计
8. Sea Docking by Dual-eye Pose Estimation with Optimized Genetic Algorithm Parameters [J] . Lwin Khin Nwe, Myint Myo, Mukada Naoki, Journal of Intelligent & Robotic Systems: Theory & Application . 2019,第2期

机译：用优化的遗传算法参数双眼姿势估算海面对接
9. Research on visual multi-target based pose estimation algorithm for ARV underwater docking [C] . Bingqian Wang, Yuangui Tang, Changming Shi 2019 3rd International Symposium on Autonomous Systems . 2019

机译：基于视觉多目标的ARV水下对接姿态估计算法研究
10. A ladar-based pose estimation algorithm for determining relative motion of a spacecraft for autonomous rendezvous and dock. [D] . Fenton, Ronald C. 2008

机译：基于雷达的姿态估计算法，用于确定自主会合和对接的航天器的相对运动。
11. Iterative Pose Refinement for Object Pose Estimation Based on RGBD Data [O] . Shao-Kang Huang, Chen-Chien Hsu, Wei-Yen Wang, 2020

机译：基于RGBD数据的对象姿势估计的迭代姿态细化
12. Detection and Pose Estimation for Short-Range Vision-Based Underwater Docking [O] . Shuang Liu, Mete Ozay, Takayuki Okatani, 2019

机译：基于短程视觉水下对接的检测和姿态估计
13. Ground Demonstration on the Autonomous Docking of Two 3U CubeSats Using a Novel Permanent-Magnet Docking Mechanism. [R] . Pei, J., Murchison, L., Choueiri, M., 2017

机译：利用新型永磁对接机构对两个3U立方体自主对接的地面论证。

Pose Estimation for Cubesat Docking

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