MFVS/MIMU integrated 6-DOF autonomous navigation in known environments with extremely simple landmarks
This study presents the navigation system of an inboard spacecraft (IS) of the Tiangong space station. This system comprises a multiple field-of-view vision system (MFVS) and a micro inertial measurement unit (MIMU). The MFVS utilizes three mutually orthogonal cameras and takes sparse and identical...
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Published in | Aerospace science and technology Vol. 75; pp. 329 - 341 |
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Main Authors | , , , , |
Format | Journal Article |
Language | English |
Published |
Elsevier Masson SAS
01.04.2018
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Subjects | |
Online Access | Get full text |
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Summary: | This study presents the navigation system of an inboard spacecraft (IS) of the Tiangong space station. This system comprises a multiple field-of-view vision system (MFVS) and a micro inertial measurement unit (MIMU). The MFVS utilizes three mutually orthogonal cameras and takes sparse and identical vision beacons as navigation references. A practical model for the MFVS is proposed based on a pseudo-measurement, which refers to the beacon coordinates in the camera frames. On this basis, three sub-algorithms for image processing and measurement equation forming are designed. Accelerated feature extracting and matching, dilution of precision analysis-based vision beacon selection strategy, and MIMU-aided image smearing elimination are analyzed. An extended Kalman filter is utilized to couple the MFVS and MIMU tightly. The 6-degree-of-freedom pose of the system and the vision beacon coordinates are estimated. The proposed algorithm is verified through a navigation experiment. Results inside a simulated cabin area of 1.5 m3 are obtained. The attitude and position accuracy in each axis reach within 0.04° and 0.41 mm (1σ), respectively. The proposed algorithm meets the requirement of the IS navigation and has potential application in other similar conditions. |
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ISSN: | 1270-9638 1626-3219 |
DOI: | 10.1016/j.ast.2017.12.043 |