Vision based navigation system for autonomous proximity operations: an experimental and analytical study

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dc.contributorJunkins, John L.
dc.creatorDu, Ju-Young
dc.date.accessioned2005-02-17T20:58:56Z
dc.date.accessioned2017-04-07T19:49:19Z
dc.date.available2005-02-17T20:58:56Z
dc.date.available2017-04-07T19:49:19Z
dc.date.created2004-12
dc.date.issued2005-02-17
dc.description.abstractThis dissertation presents an experimental and analytical study of the Vision Based Navigation system (VisNav). VisNav is a novel intelligent optical sensor system invented by Texas A&M University recently for autonomous proximity operations. This dissertation is focused on system calibration techniques and navigation algorithms. This dissertation is composed of four parts. First, the fundamental hardware and software design configuration of the VisNav system is introduced. Second, system calibration techniques are discussed that should enable an accurate VisNav system application, as well as characterization of errors. Third, a new six degree-of-freedom navigation algorithm based on the Gaussian Least Squares Differential Correction is presented that provides a geometrical best position and attitude estimates through batch iterations. Finally, a dynamic state estimation algorithm utilizing the Extended Kalman Filter (EKF) is developed that recursively estimates position, attitude, linear velocities, and angular rates. Moreover, an approach for integration of VisNav measurements with those made by an Inertial Measuring Unit (IMU) is derived. This novel VisNav/IMU integration technique is shown to significantly improve the navigation accuracy and guarantee the robustness of the navigation system in the event of occasional dropout of VisNav data.
dc.identifier.urihttp://hdl.handle.net/1969.1/1325
dc.language.isoen_US
dc.publisherTexas A&M University
dc.subjectPosition Sensing Detector
dc.subjectPSD
dc.subjectProximity Operations
dc.subjectExtended Kalman Filter
dc.subjectCalibration
dc.titleVision based navigation system for autonomous proximity operations: an experimental and analytical study
dc.typeBook
dc.typeThesis

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