Determination of the relative position of space vehicles by detection and tracking of natural visual features with the existing tv-cameras

Abstract

During spacecrafts maneuvers, especially at the rendezvous and docking stages, one of the most important tasks is to determine the relative positions of the vehicles. The current Russian “Course” and recently proposed ATV/HTV docking systems are complex and require mounting of specific cumbersome equipment on the outer sides of both vehicles. The proposed TV-based docking control system uses the existing cameras, “natural” visible features of the ISS and an ISS laptop to determine all six relative coordinates of the vehicles. At the training stage the ISS 3D-model and video recordings are used. This paper describes the algorithm flow and the problems of the passive, TV-only approach. The system efficiency is tested against models, mockups and the recordings of previous rendezvous of “Progress”, “Soyuz” and ATV spacecrafts. The nearest goal of the system is to become an independent docking control system helping the ground docking control team and the cosmonauts.