论文标题
姿势初始化方法的实验评估，用于非合作卫星之间的相对导航
Experimental Evaluation of Pose Initialization Methods for Relative Navigation Between Non-Cooperative Satellites
论文作者
论文摘要
在这项工作中，我们分析了两个卫星之间的相对姿势初始化的问题：一个追逐者和一个非合作目标。该分析针对的是基于单眼相机系统的两种近距离方法：Sharma-ventura-d'amico（SVD）方法和Silhouette匹配方法。这两种方法均基于对目标几何形状的先验知识，但是不需要基准标记或先验范围的测量或状态信息。使用2U立方体模型进行测试，作为附着在电动旋转阶段的目标，以模拟其相对于追赶者摄像机的相对运动。运动捕获系统用作参考仪器，该工具提供了两个模型之间的基准相对运动，并允许评估所分析的初始化算法的性能。
In this work, we have analyzed the problem of relative pose initialization between two satellites: a chaser and a non-cooperating target. The analysis has been targeted to two close-range methods based on a monocular camera system: the Sharma-Ventura-D'Amico (SVD) method and the silhouette matching method. Both methods are based on a priori knowledge of the target geometry, but neither fiducial markers nor a priori range measurements or state information are needed. The tests were carried out using a 2U CubeSat mock-up as target attached to a motorized rotary stage to simulate its relative motion with respect to the chaser camera. A motion capture system was used as a reference instrument that provides the fiducial relative motion between the two mock-ups and allows to evaluate the performances of the initialization algorithms analyzed.
