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Advanced Attitude Determination using Photonic Mixer Devices
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Photonic Mixer Devices (PMD) have arose as a new and promising technology in imaging devices, providing 3D images at high frame rates by performing the acquisition of the information for all the pixels in parallel, and with no mechanical moving parts, in contrast with other available technologies such as LIDAR. As a novel technology that it is, a lot of research is being done for possible applications. One of those is the in-orbit maintenance of spacecrafts where rendezvous and docking (RvD) maneuvers are required.In the scope of a RvD mission where the attitude of a known passive object should be determined, the innovative PMD camera sensor is used to obtain distance information about the object. Based on an existing framework developed at the University of W\"{u}rzburg, an advanced approach for attitude and pose estimation should be developed. The objective of the thesis is to extend the current framework and to achieve more robustness in the attitude determination process.The approach presented in this thesis is based on edge detection techniques, which together with some assumptions made about the nature of the object and its motion provides a better performance under conditions such as high reflectivity of the object, as well as a more robust pose estimation when dealing with rotations around the yaw and pitch axes.For the evaluation of the algorithm, some of the previously recorded videos from the earlier research were used. They provide a definite framework in which to compare the obtained results with previous developments. Also, newer videos using the next generation of PMD cameras were recorded to provide a wider spectrum of images to test and validate the functionality of the algorithm.

Place, publisher, year, edition, pages
Keyword [en]
Technology, PMD, rendezvous, docking
Keyword [sv]
URN: urn:nbn:se:ltu:diva-42803Local ID: 0c5b0dbd-00fe-4cab-884c-afe0fbf87fa7OAI: diva2:1016029
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20120319 (anonymous)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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