RELATIVE POSE DETERMINATION ALGORITHM FOR SPACE ON-ORBIT CLOSE RANGE AUTONOMOUS OPERATIONS USING LIDAR

Abstract

Non cooperative on-orbit operations, such as rendezvous, docking or berthing operations, have become more relevant, mainly due to the necessity of expanding mission lifetimes, the increase of space debris and the reduction of human dependency. In order to automate these operations, the relative pose calculation between the target and the chaser must be determined autonomously. In recent years, LiDAR sensors have been introduced for this problem, achieving good accuracies. The critical part of this operation is the first relative pose calculation, since there is no previous information about the attitude of the target. In this work, a methodology to carry out this first relative pose calculation using LiDAR sensors is presented. A template matching algorithm has been developed, which uses the 3D model of the target to calculate the relative pose of the target regarding the LiDAR sensor. Three different study cases, with different distances and rotations, have been simulated in order to validate the algorithm, reaching an average error of 0.0383m.