Amartuvshin DAGVASUMBEREL, Kenichi ASAMI

A Visual-Inertial Attitude Propagation for Resource-Constrained Small Satellites

An accurate and efficient attitude determination system is a key component for Earth-observation small satellites. However, most of the small satellites operate without redundant attitude sensors due to the satellite’s small form factor and are therefore at a significant risk of mission failure. In this research, we propose a visual-inertial attitude propagation approach for Earth-observation small satellites. The proposed approach integrates vision-based and inertial attitude estimation methods in an unscented Kalman filter (UKF) framework. The vision-based method propagates attitude in three degrees of freedom from sequentially captured images based on Earth-observation geometrical constraints and total shift correction method. For validation of the vision-based method’s performance, we used raw imagery data of High Definition Earth Viewing (HDEV) payload of the International Space Station (ISS). The performance of the visual-inertial approach is assessed through the realistic Earth-surface scene simulations and results are compared with ground truth data.

Kaynak Kısıtlı Küçük Uydular İçin Görsel-Ataletsel Bir Tutum Yayımı

Doğru ve verimli bir davranış belirleme sistemi Dünya’yı gözlemleyen küçük uydular için önemli bir bileşenidir. Bununla birlikte, küçük uyduların çoğu, uyduya ait küçük form faktörü nedeniyle gereksiz davranış sensörleri olmadan çalışır ve bu nedenle önemli bir görev hatası riski taşırlar. Bu araştırmada, Dünya’yı gözlemleyen küçük uydular için görsel-eylemsiz bir davranış yayılımı yaklaşımı önermekteyiz. Önerilen yaklaşım, görünmeyen bir Kalman filtresi (UKF) çerçevesinde görüntüye dayalı eylemsiz tutum tahmin yöntemlerini birleştirir. Görüntü temelli yöntem, Dünya’yı gözlemlemede geometrik kısıtlamalara ve toplam kaydırma düzeltme yöntemine dayalı olarak çekilen resimlerden üç serbestlik derecesinde davranış geliştirir. Görüntü temelli yöntemin performansının doğrulanması için, Uluslararası Uzay İstasyonunun (ISS) Yüksek Çözünürlüklü Dünya Görüntüleme (HDEV) yükünün ham görüntü verilerini kullandık. Görsel-eylemsiz yaklaşımın performansı, gerçekçi Dünya-yüzey sahne simülasyonları ile değerlendirildi ve sonuçlar, temel gerçek verilerle karşılaştırıldı.

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