AN OPTICAL BASED STRATEGY FOR DEEP SPACE AUTONOMOUS NAVIGATION

摘要

In this paper an autonomous navigation strategy based on optical sensors (CCD cameras) is presented. The resulting algorithm determines the spacecraft position by observation of suitable known solar bodies. A first estimation of the position is done measuring the angular diameter of the Sun. The image acquired by the CCD camera is processed in order to determine the limb of the Sun and to estimate its centre. Afterward a sequence of images of different planets is used to correct the estimated position. If unknown objects are in view, an optical flow measurement is used to estimate the time of contact to the incoming object and to correct the trajectory. The navigation strategy is tested moving a CCD camera, mounted on the end effector of a robotic arm, in a simulated environment. This paper represents the first step of a research program aimed to develop algorithms for deep space autonomous navigation and to find solutions for testing them on the ground.