Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion

On-orbit space technology is used for tasks such as the relative navigation of non-cooperative targets, rendezvous and docking, on-orbit assembly, and space debris removal. In particular, the pose estimation of space non-cooperative targets is a prerequisite for studying these applications. The capa...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Jie Li, Yiqi Zhuang, Qi Peng, Liang Zhao
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	space non-cooperative targets cross-source point cloud fusion conformal geometry algebra pose estimation twistor Science Q
Acceso en línea:	https://doaj.org/article/49fe7e52baab4b178ad0ce7adc053bbc
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:49fe7e52baab4b178ad0ce7adc053bbc
record_format	dspace
spelling	oai:doaj.org-article:49fe7e52baab4b178ad0ce7adc053bbc2021-11-11T18:51:02ZPose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion10.3390/rs132142392072-4292https://doaj.org/article/49fe7e52baab4b178ad0ce7adc053bbc2021-10-01T00:00:00Zhttps://www.mdpi.com/2072-4292/13/21/4239https://doaj.org/toc/2072-4292On-orbit space technology is used for tasks such as the relative navigation of non-cooperative targets, rendezvous and docking, on-orbit assembly, and space debris removal. In particular, the pose estimation of space non-cooperative targets is a prerequisite for studying these applications. The capabilities of a single sensor are limited, making it difficult to achieve high accuracy in the measurement range. Against this backdrop, a non-cooperative target pose measurement system fused with multi-source sensors was designed in this study. First, a cross-source point cloud fusion algorithm was developed. This algorithm uses the unified and simplified expression of geometric elements in conformal geometry algebra, breaks the traditional point-to-point correspondence, and constructs matching relationships between points and spheres. Next, for the fused point cloud, we proposed a plane clustering-method-based CGA to eliminate point cloud diffusion and then reconstruct the 3D contour model. Finally, we used a twistor along with the Clohessy–Wiltshire equation to obtain the posture and other motion parameters of the non-cooperative target through the unscented Kalman filter. In both the numerical simulations and the semi-physical experiments, the proposed measurement system met the requirements for non-cooperative target measurement accuracy, and the estimation error of the angle of the rotating spindle was 30% lower than that of other, previously studied methods. The proposed cross-source point cloud fusion algorithm can achieve high registration accuracy for point clouds with different densities and small overlap rates.Jie LiYiqi ZhuangQi PengLiang ZhaoMDPI AGarticlespace non-cooperative targetscross-source point cloud fusionconformal geometry algebrapose estimationtwistorScienceQENRemote Sensing, Vol 13, Iss 4239, p 4239 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	space non-cooperative targets cross-source point cloud fusion conformal geometry algebra pose estimation twistor Science Q
spellingShingle	space non-cooperative targets cross-source point cloud fusion conformal geometry algebra pose estimation twistor Science Q Jie Li Yiqi Zhuang Qi Peng Liang Zhao Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion
description	On-orbit space technology is used for tasks such as the relative navigation of non-cooperative targets, rendezvous and docking, on-orbit assembly, and space debris removal. In particular, the pose estimation of space non-cooperative targets is a prerequisite for studying these applications. The capabilities of a single sensor are limited, making it difficult to achieve high accuracy in the measurement range. Against this backdrop, a non-cooperative target pose measurement system fused with multi-source sensors was designed in this study. First, a cross-source point cloud fusion algorithm was developed. This algorithm uses the unified and simplified expression of geometric elements in conformal geometry algebra, breaks the traditional point-to-point correspondence, and constructs matching relationships between points and spheres. Next, for the fused point cloud, we proposed a plane clustering-method-based CGA to eliminate point cloud diffusion and then reconstruct the 3D contour model. Finally, we used a twistor along with the Clohessy–Wiltshire equation to obtain the posture and other motion parameters of the non-cooperative target through the unscented Kalman filter. In both the numerical simulations and the semi-physical experiments, the proposed measurement system met the requirements for non-cooperative target measurement accuracy, and the estimation error of the angle of the rotating spindle was 30% lower than that of other, previously studied methods. The proposed cross-source point cloud fusion algorithm can achieve high registration accuracy for point clouds with different densities and small overlap rates.
format	article
author	Jie Li Yiqi Zhuang Qi Peng Liang Zhao
author_facet	Jie Li Yiqi Zhuang Qi Peng Liang Zhao
author_sort	Jie Li
title	Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion
title_short	Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion
title_full	Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion
title_fullStr	Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion
title_full_unstemmed	Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion
title_sort	pose estimation of non-cooperative space targets based on cross-source point cloud fusion
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/49fe7e52baab4b178ad0ce7adc053bbc
work_keys_str_mv	AT jieli poseestimationofnoncooperativespacetargetsbasedoncrosssourcepointcloudfusion AT yiqizhuang poseestimationofnoncooperativespacetargetsbasedoncrosssourcepointcloudfusion AT qipeng poseestimationofnoncooperativespacetargetsbasedoncrosssourcepointcloudfusion AT liangzhao poseestimationofnoncooperativespacetargetsbasedoncrosssourcepointcloudfusion
_version_	1718431699639992320

Pose Estimation of Non-Cooperative Space Targets Based on Cross-Source Point Cloud Fusion

Ejemplares similares