An autonomous spacecraft docking scheme is proposed. Emphasis is on the integration of a computer vision system for obtaining position and orientation estimates of the spacecraft with respect to a docking platform and control systems for the rotational and translational motion of the spacecraft. Computer simulations of an integrated spacecraft computer vision and docking control system are described under a specific set of assumptions. The effects of image quantization and sampling and the perturbation effects of orbital motion are included. The simulation results demonstrate the technical feasibility of this proposed approach. This docking control system compares favorably with other methods based on the use of sensors such as laser, infrared, radar, GPS (global positioning system), or INS (inertial navigation system).
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