Dual Quaternion
Vision-Based Relative Navigation for Proximity Operations and On-Orbit Servicing Technologies Alfredo Valverde, Guangcong Zhang, Fu-Jen Chu, Nuno Filipe, Michail Kontitsis, Panagiotis Tsiotras, Patricio Vela Georgia Institute of Technology, Jet Propulsion Laboratory Dual Quaternion Based Controller Motivation ο On orbit servicing requires reliable and precise estimation of the relative pose (i.e., attitude and position) between the service and target satellite and the accurate and fail-safe control of the service satellite. ο Unit Dual Quaternions provide a compact representation of motion in SE(3). Vision Based Attitude (3DoF) Stabilization Vision (cooperative case) Vision Measurements and Estimates of Attitude BoxLoG response Input Rate Gyro Measurements and Estimates of Angular Velocity BoxLoG Data Association ππ΅/πΌ Pose Estimate (Dual Quaternion) 1 πΌ = ππ΅/πΌ + π ππ΅/πΌ ππ΅/πΌ 2 ePnP Average FPS π β 0 πππ π 2 = 0 AprilTag Our approach 2.1 12 Attitude Tracking Error ο Combined Translational and Rotational kinematic and dynamic equations are of the same form as their Rotation only counterparts. NASA Phoenix project Attitude Controller (3DoF) Autonomous Inspection Unit Dual Quaternion Attitude & Position Controller (5DoF) Overview Autonomous Spacecraft Testing of Robotic Operations in Space (ASTROS) Dual Quaternion Multiplicative Extended Kalman Filter (DQ-EKF) Relative Navigation Rate Gyro / IMU Experimental Setup Air-bearing pads and hemispherical joint for frictionless translation and rotation respectively. Error Unit Dual Quaternion Absolute Navigation Four (4) Variable Speed Control Moment Gyros (VSCMG). Absolute Navigation (5DoF) for a Docking Maneuver using Thrusters Planned vs Actual Motion Maneuver Phases Dual Quaternion based Estimator Dual Quaternion based Controller Actuators (12 Thrusters, 4 VS-CMGs) Twelve (12) thrusters. Rate Gyro, 3-axis Accelerometers. Vision + β β ππ΅/πΌ = ππ΅/πΌ β β πΏππ΅/πΌ Cooperative Vision based Relative Navigation using a known pattern on the target satellite. More compact (6 parameters) compared to EKF based on true unit quaternion (8 parameters) Pose Estimation Error Simulink Environment Two on-board computers (xPCTarget for control, PC104 for vision). DQ-EKF performs well and compares favorably to additive EKFs (SQV-AEKF and QV-AEKF) Color CCD camera. Attitude Tracking Error Velocity Estimation Error Position Tracking Error Results Attitude Tracking using VS-CMGs (3DoF) Attitude Attitude Tracking Error Un-cooperative Vision based Relative Navigation relies on extraction, and registration of features from previously unseen scenes (in progress). Box-LoG Detector TEMPLATE DESIGN © 2008 www.PosterPresentations.com Replaced by SIFT / SURF Acknowledgement This work was supported by the AFRL research award FA945313-C-0201
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