Attitude and rate estimation for remote tumbling targets using line scan range measurements
Abstract/Contents
- Abstract
- The work in this thesis enables the estimation of orientation and angular rates for tumbling targets using scanning range measurements. This general estimation problem is a vital part of enabling autonomous rendezvous for spacecraft. The primary focus of this work was to consider cases where data smearing is a problem. Data smearing occurs when scanning range measurements are taken from a continuously moving target. If the raw data are aggregated into a point cloud without motion correction, they no longer represent the target geometry accurately. The estimation framework presented considers individual, sequential measurements as opposed to aggregating range data into point clouds. This paradigm shift addresses the problem of data smearing in a general and robust way by applying a recursive estimation framework that inherently accounts for noise in the motion correction. This algorithm relies on knowledge of the target's shape, e.g. a CAD model, and general equations of motion. The estimator is fed solely by measurements from the ranging sensor. The estimation process is decomposed into an acquisition phase and a tracking phase, and filters are constructed for each. Specifically, a particle filter is developed for use in the acquisition phase and an extended Kalman filter is utilized for the tracking phase. The design and implementation of an experimental platform are also discussed. This platform can rotate a model through an arbitrary, specified trajectory while maintaining unoccluded visibility of the target for observation by external sensors. Details of the hardware, software, sensing, and closed loop control architecture are included. Both simulation and experimental results are presented which verify the successful performance of the proposed algorithms in the presence of realistic sensor noise and modeling uncertainty. The hardware experiments employ a continuously rotating target, which results in data smearing, and consider a limiting case where the sensor has only a line scan pattern.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2012 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Russell, Stephen Paul |
|---|---|
| Associated with | Stanford University, Department of Aeronautics and Astronautics |
| Primary advisor | Rock, Stephen M |
| Thesis advisor | Rock, Stephen M |
| Thesis advisor | Close, Sigrid, 1971- |
| Thesis advisor | Enge, Per |
| Advisor | Close, Sigrid, 1971- |
| Advisor | Enge, Per |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Stephen P. Russell. |
|---|---|
| Note | Submitted to the Department of Aeronautics and Astronautics. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2012. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2012 by Stephen Paul Russell
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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