Optical range and range rate estimation for teleoperator systems

Abstract

Range and range rate are crucial parameters which must be available to the operator during remote controlled orbital docking operations. A method was developed for the estimation of both these parameters using an aided television system. An experiment was performed to determine the human operator's capability to measure displayed image size using a fixed reticle or movable cursor as the television aid. The movable cursor was found to yield mean image size estimation errors on the order of 2.3 per cent of the correct value. This error rate was significantly lower than that for the fixed reticle. Performance using the movable cursor was found to be less sensitive to signal-to-noise ratio variation than was that for the fixed reticle. The mean image size estimation errors for the movable cursor correspond to an error of approximately 2.25 per cent in range suggesting that the system has some merit. Determining the accuracy of range rate estimation using a rate controlled cursor will require further experimentation.