High-accuracy Vision-Based Attitude Estimation System for Air-Bearing Spacecraft Simulators

• URL: http://arxiv.org/abs/2312.08146v1
• Date: Wed, 13 Dec 2023 13:55:36 GMT
• Title: High-accuracy Vision-Based Attitude Estimation System for Air-Bearing Spacecraft Simulators
• Authors: Fabio Ornati, Gianfranco Di Domenico, Paolo Panicucci, Francesco Topputo
• Abstract summary: This paper shows a novel and versatile method to compute the attitude of rotational air-bearing platforms using a monocular camera and sets of fiducial markers. Auto-calibration procedures to perform a preliminary estimation of the system parameters are shown. Results show expected 1-sigma accuracies in the order of $sim$ 12 arcsec and $sim$ 37 arcsec for about- and cross-boresight rotations of the platform.
• Score: 0.0
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel and versatile method to compute the attitude of rotational air-bearing platforms using a monocular camera and sets of fiducial markers. The work proposes a geometry-based iterative algorithm that is significantly more accurate than other literature methods that involve the solution of the Perspective-n-Point problem. Additionally, auto-calibration procedures to perform a preliminary estimation of the system parameters are shown. The developed methodology is deployed onto a Raspberry Pi 4 micro-computer and tested with a set of LED markers. Data obtained with this setup are compared against computer simulations of the same system to understand and validate the attitude estimation performances. Simulation results show expected 1-sigma accuracies in the order of $\sim$ 12 arcsec and $\sim$ 37 arcsec for about- and cross-boresight rotations of the platform, and average latency times of 6 ms.

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