Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination.

In this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective-n-Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal.

A Cubesat Payload for Exoplanet Detection.

The search for undiscovered planets outside the solar system is a scientific topic that is rapidly spreading into the astrophysical and engineering communities. In this framework, the design of an innovative payload to detect exoplanets from a nano-sized space platform, like a 3U cubesat, is presented. The selected detection method is photometric transit, and the payload aims to detect flux decrements down to ~0.01% with a precision of 12 ppm. The payload design is also aimed at false positive recognition. The solution consists of a four-facets pyramid on the top of the payload, to allow for measurement redundancy and low-resolution spectral dispersion of the star images. The innovative concept is the use of a small and cheap platform for a relevant astronomical mission. The faintest observable target star has V-magnitude equal to 3.38. Despite missions aimed at ultra-precise photometry from microsatellites (e.g., MOST, BRITE), the transit of exoplanets orbiting very bright stars has not yet been surveyed photometrically from space, since any observation from a small/medium sized (30 cm optical aperture) telescope would saturate the detector. This cubesat mission can provide these missing measurements. This work is set up as a demonstrative project to verify the feasibility of the payload concept.

Linear dispersion relation and depth sensitivity to swell parameters: application to synthetic aperture radar imaging and bathymetry.

Long gravity waves or swell dominating the sea surface is known to be very useful to estimate seabed morphology in coastal areas. The paper reviews the main phenomena related to swell waves propagation that allow seabed morphology to be sensed. The linear dispersion is analysed and an error budget model is developed to assess the achievable depth accuracy when Synthetic Aperture Radar (SAR) data are used. The relevant issues and potentials of swell-based bathymetry by SAR are identified and discussed. This technique is of particular interest for characteristic regions of the Mediterranean Sea, such as in gulfs and relatively close areas, where traditional SAR-based bathymetric techniques, relying on strong tidal currents, are of limited practical utility.

A model-based 3D template matching technique for pose acquisition of an uncooperative space object.

This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR. These estimates are then used to initialize a pose tracking algorithm. Peculiar features of the proposed approach are the use of a reduced number of templates and the idea of building the database of templates on-line, thus significantly reducing the amount of on-board stored data with respect to traditional techniques. An algorithm variant is also introduced aimed at further accelerating the pose acquisition time and reducing the computational cost. Technique performance is investigated within a realistic numerical simulation environment comprising a target model, LIDAR operation and various target-chaser relative dynamics scenarios, relevant to close-proximity flight operations. Specifically, the capability of the proposed techniques to provide a pose solution suitable to initialize the tracking algorithm is demonstrated, as well as their robustness against highly variable pose conditions determined by the relative dynamics. Finally, a criterion for autonomous failure detection of the presented techniques is presented.

Satellite angular velocity estimation based on star images and optical flow techniques.

An optical flow-based technique is proposed to estimate spacecraft angular velocity based on sequences of star-field images. It does not require star identification and can be thus used to also deliver angular rate information when attitude determination is not possible, as during platform de tumbling or slewing. Region-based optical flow calculation is carried out on successive star images preprocessed to remove background. Sensor calibration parameters, Poisson equation, and a least-squares method are then used to estimate the angular velocity vector components in the sensor rotating frame. A theoretical error budget is developed to estimate the expected angular rate accuracy as a function of camera parameters and star distribution in the field of view. The effectiveness of the proposed technique is tested by using star field scenes generated by a hardware-in-the-loop testing facility and acquired by a commercial-off-the shelf camera sensor. Simulated cases comprise rotations at different rates. Experimental results are presented which are consistent with theoretical estimates. In particular, very accurate angular velocity estimates are generated at lower slew rates, while in all cases the achievable accuracy in the estimation of the angular velocity component along boresight is about one order of magnitude worse than the other two components.

Digital sun sensor multi-spot operation.

The operation and test of a multi-spot digital sun sensor for precise sun-line determination is described. The image forming system consists of an opaque mask with multiple pinhole apertures producing multiple, simultaneous, spot-like images of the sun on the focal plane. The sun-line precision can be improved by averaging multiple simultaneous measures. Nevertheless, the sensor operation on a wide field of view requires acquiring and processing images in which the number of sun spots and the related intensity level are largely variable. To this end, a reliable and robust image acquisition procedure based on a variable shutter time has been considered as well as a calibration function exploiting also the knowledge of the sun-spot array size. Main focus of the present paper is the experimental validation of the wide field of view operation of the sensor by using a sensor prototype and a laboratory test facility. Results demonstrate that it is possible to keep high measurement precision also for large off-boresight angles.

Multi-Aperture CMOS Sun Sensor for Microsatellite Attitude Determination.

This paper describes the high precision digital sun sensor under development at the University of Naples. The sensor determines the sun line orientation in the sensor frame from the measurement of the sun position on the focal plane. It exploits CMOS technology and an original optical head design with multiple apertures. This allows simultaneous multiple acquisitions of the sun as spots on the focal plane. The sensor can be operated either with a fixed or a variable number of sun spots, depending on the required field of view and sun-line measurement precision. Multiple acquisitions are averaged by using techniques which minimize the computational load to extract the sun line orientation with high precision. Accuracy and computational efficiency are also improved thanks to an original design of the calibration function relying on neural networks. Extensive test campaigns are carried out using a laboratory test facility reproducing sun spectrum, apparent size and distance, and variable illumination directions. Test results validate the sensor concept, confirming the precision improvement achievable with multiple apertures, and sensor operation with a variable number of sun spots. Specifically, the sensor provides accuracy and precision in the order of 1 arcmin and 1 arcsec, respectively.