A novel navigation scheme of simulating non-cooperative target’s long-duration, six-DOFs measurements in magnetism–buoyancy hybrid microgravity environments
- Paper number
IAC-17,A2,5,9,x38536
- Author
Mr. Jichao Liu, National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
- Coauthor
Mrs. Qun Fang, Northwestern Polytechnical University, China
- Coauthor
Mr. Guangyun Li, National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi'an, China
- Year
2017
- Abstract
This paper presents a novel navigation scheme of non-cooperative target’s long-duration, six-DOFs measurements and capturing simulation based on microgravity test bed using magnetism-buoyancy hybrid system. The main problem for the exiting navigation system is that the vision positioning system needs a chessboard fixed on the vehicle for the external binocular camera, so the vehicle can’t move freely. It also leads to the software architecture incompact, and prevents the non-cooperative target’s six-DOFs measurements and capturing simulation. The proposed scheme makes good use of the magnetism-buoyancy hybrid microgravity system and the Simultaneous Localization and Mapping (SLAM) techniques which removes the chessboard off the vehicle, guarantees that the vehicle can move around the non-cooperative target in six-DOFs on the ground. For the reason of positioning accuracy and long-time duration requirements, a new chessboard is designed and a SLAM algorithm is applied. Numerical simulations and experiments are applied to test the proposed scheme, and it shows the scheme is feasible to simulate non-cooperative target’s measurements and capturing on the ground.
- Abstract document
- Manuscript document
IAC-17,A2,5,9,x38536.pdf (🔒 authorized access only).
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