Development of the miniature video docking sensor

Lennon Rodgers; Simon Nolet; David W. Miller

doi:10.1117/12.665258

31 May 2006 Development of the miniature video docking sensor

Lennon Rodgers, Simon Nolet, David W. Miller

Proceedings Volume 6221, Modeling, Simulation, and Verification of Space-based Systems III; 62210E (2006) https://doi.org/10.1117/12.665258
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

To perform realistic demonstrations of autonomous docking maneuvers using micro-satellites, the MIT Space Systems Laboratory (SSL) developed a miniature universal docking port along with an optical sensing system for relative state estimation. The docking port has an androgynous design and is universal since any two identical ports can be connected together. After a rigid connection is made, it is capable of passing electrical loads between the connected micro-satellites. The optical sensor uses a set of infrared LED's, a miniature CCD-based video camera, and an Extended Kalman Filter to determine the six relative degrees of freedom of the docking satellite. The SPHERES testbed, also developed by the MIT SSL, was used to demonstrate the integrated docking port and sensor system. This study focuses on the development of the optical docking sensor, and presents test results collected to date during fully autonomous docking experiments performed at the MIT SSL 2-D laboratory. Tests were performed to verify the validity of the docking sensor by taking measurements at known distances. These results give an estimate of the sensor accuracy, and are compared with a theoretical model to understand the sources of error in the state measurements.

Citation Download Citation

Lennon Rodgers, Simon Nolet, and David W. Miller "Development of the miniature video docking sensor", Proc. SPIE 6221, Modeling, Simulation, and Verification of Space-based Systems III, 62210E (31 May 2006); https://doi.org/10.1117/12.665258

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