N-Ocular Satellite Relative State Estimation

摘要

Estimating the pose, motion and structure of non-cooperative dynamic targetsrnusing on board sensors is a challenging problem. This work suggests using multiple-rnbaseline stereovision for non-cooperative dynamic target relative pose, motion andrnstructure estimation, with a particular emphasis on space applications. A computer-rnvision feature-matching algorithm is designed, which produces input data for a recur-rnsive filtering algorithm. A newly-developed initialization scheme is proposed, whichrndecreases the ambiguity in the target center of mass location. The eu000bect of varyingrnthe number of cameras is investigated. The proposed vision-based relative motionrnestimation method was validated at the Technion’s Distributed Space Systems Labo-rnratory. A scalability analysis indicates that the proposed method may be potentiallyrnuseful for space applications.