Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “pose estimation algorithms”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Fuzzy set methods for object recognition in space applications

Progress on the following tasks is reported: (1) fuzzy set-based decision making methodologies; (2) feature calculation; (3) clustering for curve and surface fitting; and (4) acquisition of images. The general structure for networks based on fuzzy set connectives which are being used for information fusion and decision making in space applications is described. The structure and training techniques for such networks consisting of generalized means and gamma-operators are described. The use of other hybrid operators in multicriteria decision making is currently being examined. Numerous classical features on image regions such as gray level statistics, edge and curve primitives, texture measures from cooccurrance matrix, and size and shape parameters were implemented. Several fractal geometric features which may have a considerable impact on characterizing cluttered background, such as clouds, dense star patterns, or some planetary surfaces, were used. A new approach to a fuzzy C-shell algorithm is addressed. NASA personnel are in the process of acquiring suitable simulation data and hopefully videotaped actual shuttle imagery. Photographs have been digitized to use in the algorithms. Also, a model of the shuttle was assembled and a mechanism to orient this model in 3-D to digitize for experiments on pose estimation is being constructed.

Keller, James M.↗
NASA NTRS2012

The Validity Chlorophyll-a Estimation by Sun Induced Fluorescence in Estuarine Waters: An Analysis of Long-term (2003-2011) Water Quality Data from Tampa Bay, Florida (USA)

Satellite observation of phytoplankton concentration or chlorophyll-a is an important characteristic, critically integral to monitoring coastal water quality. However, the optical properties of estuarine and coastal waters are highly variable and complex and pose a great challenge for accurate analysis. Constituents such as suspended solids and dissolved organic matter and the overlapping and uncorrelated absorptions in the blue region of the spectrum renders the blue-green ratio algorithms for estimating chlorophyll-a inaccurate. Measurement of sun-induced chlorophyll fluorescence, on the other hand, which utilizes the near infrared portion of the electromagnetic spectrum, may provide a better estimate of phytoplankton concentrations. While modelling and laboratory studies have illustrated both the utility and limitations of satellite baseline algorithms based on the sun induced chlorophyll fluorescence signal, few have examined the empirical validity of these algorithms using a comprehensive long term in situ data set. In an unprecedented analysis of a long term (2003-2011) in situ monitoring data from Tampa Bay, Florida (USA), we assess the validity of the FLH product from the Moderate Resolution Imaging Spectrometer (MODIS) against chlorophyll ]a and a suite of water quality parameters taken in a variety of conditions throughout a large optically complex estuarine system. A systematic analysis of sampling sites throughout the bay is undertaken to understand how the relationship between FLH and in situ chlorophyll-a responds to varying conditions within the estuary including water depth, distance from shore and structures and eight water quality parameters. From the 39 station for which data was derived, 22 stations showed significant correlations when the FLH product was matched with in situ chlorophyll-alpha data. The correlations (r2) for individual stations within Tampa Bay ranged between 0.67 (n=28, pless than 0.01) and-0.457 (n=12, p=.016), indicating that for some areas within the Bay, FLH can be a good predictor of chlorophyll-alpha concentration and hence a useful tool for the analysis of water quality. Overall, the results show a 106% increase in the validity of chlorophyll -a concentration estimates using FLH over the standard the blue-green OC3M algorithm. This analysis also illustrates that the correlations between FLH and in situ chlorophyll -a measurements increases with increasing water depth and distance of the monitoring sites from both the shore and structures. However, due to confounding factors related to the complexity of the estuarine system, a linear improvement in the FLH to chlorophyll ]a relationship was not clearly noted with increasing depth and distance from shore alone. Correlations of FLH with turbidity, nutrients (total nitrogen and total phosphorous) biological oxygen demand, salinity, sea surface temperature correlated positively with FLH concentrations, while dissolved oxygen and pH showed negative correlations. Principle component analyses are employed to further describe the relationships between the multivariate water quality parameters and the FLH product. The majority of sites with higher and very significant correlations (pless than 0.01) also showed high correlation values for nutrients, turbidity and biological oxygen demand. These sites were on average in greater than seven meters of water and over five kilometers from shore. A thorough understanding of the relationship between the MODIS FLH product and in situ water quality parameters will enhance our understanding of the accuracy MODIS fs global FLH algorithm and assist in optimizing its calibration for use in monitoring the quality of estuarine and coastal waters worldwide.

Moreno-Madrinan, Max Jacobo↗
NASA NTRS2005

Interannual Variability of Tropical Rainfall as Seen From TRMM

Considerable uncertainty surrounds the issue of whether precipitation over the tropical oceans (30deg N/S) systematically changes with interannual sea-surface temperature (SST) anomalies that accompany El Nino (warm) and La Nina (cold) events. Although it is well documented that El Nino-Southern Oscillation (ENSO) events with marked SST changes over the tropical oceans produce significant regional changes in precipitation, water vapor, and radiative fluxes in the tropics, we still cannot yet adequately quantify the associated net integrated changes to water and heat balance over the entire tropical oceanic or land sectors. Resolving this uncertainty is important since precipitation and latent heat release variations over land and ocean sectors are key components of the tropical heat balance in its most aggregated form. Rainfall estimates from the Version 5 Tropical Rainfall Measuring Mission (TRMM) Precipitation Radar (PR) averaged over the tropical oceans have not solved this issue and, in fact, show marked differences with estimates from two TRMM Microwave Imager (TMI) passive microwave algorithms. In this paper we will focus on findings that uncertainties in microphysical assumptions necessitated by the single-frequency PR measurement pose difficulties for detecting climate-related precipitation signals. Recent work has shown that path-integrated attenuation derived from the effects of precipitation on the radar return from the ocean surface exhibits interannual variability that agrees closely with the TMI time series, yet the PR rainfall interannual variability (and attenuation derived predominantly from reflectivity) differs even in sign. We will explore these apparent inconsistencies and examine changes in new TRMM Version 6 retrievals. To place these results in a tropical water balance perspective we also examine interannual variations in evaporation over the tropical oceans made from TRMM and SSM/I (Special Sensor Microwave Imager) measurements of surface winds and humidity. Evaporation estimates from reanalysis and several global model experiments will also be compared to the TRMM findings and evaluated for consistency. The ability to detect regional shifts in freshwater flux over the oceans (equivalently, integrated moisture convergence) and moisture transport will be discussed.

Robertson, Franklin R.↗
NASA NTRSDate not supplied

Total Variation Majorization Minimization (TV-MM) Approach to Radiometer Brightness Temperature Gridding and Reconstruction

This paper presents the implementation of an algorithm to enhance the image resolution of the Earth's surface brightness temperature (T B ) data measured by radiometers such as the one onboard of the Soil Moisture Active Passive (SMAP) mission. A key step in radiometer T B processing is the conversion of the swath-based calibrated antenna temperature (T A ) measurements to the Level 3 Earth-centered grid. The simplest algorithm to transform this data from swath to gridded format is called drop-in-the-bucket which simply averages surrounding noisy T A samples to form a T B value at the gridded location. This method reduces noise, however produces low resolution products. To obtain a higher resolution product, SMAP uses other techniques such the Backus-Gilbert (BG) algorithm, which is the conventional method used in microwave radiometry. Although this method performs the required interpolation, it is not effective in denoising and removing blurring effects due to antenna filtering of the radiometer image data. Our motivation for this development is to further improve the resolution through post-processing of the radiometer T B image, a highly cost-effective method of image enhancement. The approach adapted in this work is based on the minimization of the Total Variation (TV) regularized objective function that is used extensively in solving general ill-posed linear inverse problems in image processing. Since the TV-based objective function is convex but not everywhere differentiable, there exists many numerical algorithms that can estimate the solution and the one selected for this work is called Majorization- Minimization (MM). By applying this algorithm, simulation experiments were performed based on synthetic data from the Geophysical model as well as real SMAP data to demonstrate the effectiveness of the technique. Results were then compared against the BG method.

Wing Lee↗
NASA NTRS1994

Vision based object pose estimation for mobile robots

Mobile robot navigation using visual sensors requires that a robot be able to detect landmarks and obtain pose information from a camera image. This paper presents a vision system for finding man-made markers of known size and calculating the pose of these markers. The algorithm detects and identifies the markers using a weighted pattern matching template. Geometric constraints are then used to calculate the position of the markers relative to the robot. The selection of geometric constraints comes from the typical pose of most man-made signs, such as the sign standing vertical and the dimensions of known size. This system has been tested successfully on a wide range of real images. Marker detection is reliable, even in cluttered environments, and under certain marker orientations, estimation of the orientation has proven accurate to within 2 degrees, and distance estimation to within 0.3 meters.

Wu, Annie↗
NASA NTRSDate not supplied

Spacecraft Operation Emulation Via Six DOF Tendon-Actuated Robot

NASA Johnson Space Center’s (JSC) Simulation, Emulation, Navigation, Sensors and STAR (SENSS) Laboratory has developed a large-scale six degree of freedom tendon-actuated robot (STAR) for emulation of spacecraft proximity operations and Entry, Descent, and Landing approach trajectories to aid in the rapid development and testing of a wide range of guidance, navigation, and control algorithms at low cost.

navigation↗
NASA NTRS2022

Real-time rapid leakage estimation for deep space habitats using exponentially-weighted adaptively-refined search

The recent accelerated growth in space-related research and development activities makes the near-term need for long-term extraterrestrial habitats evident. Such habitats must operate under continuous disruptive conditions arising from extreme environments like meteoroid impacts, extreme temperature fluctuations, galactic cosmic rays, destructive dust, and seismic events. Loss of air or atmospheric leakage from a habitat poses safety challenges that demand proper attention. Such leakage may arise from micro-meteoroid impacts, crack growth, bolt/rivet loosening, and seal deterioration. In this paper, leakage estimation in deep space habitats is posed as an inverse problem. A forward pressure-based dynamical model is formulated for atmospheric leakage. Experiments are performed on a small-scaled pressure chamber where different leakage scenarios are emulated and corresponding pressure values are measured. An exponentially-weighted adaptively-refined search (EWARS) algorithm is developed and validated for the inverse problem of real-time leakage estimation. It is demonstrated that the proposed methodology can achieve real-time estimation and tracking of constant and variable leaks with accuracy.

Deep space habitats↗
NASA NTRSDate not supplied

Convective precipitation retrievals from space-borne dual frequency (Ka- and W-band) radar observations

The 2017 Decadal Survey highlighted Earth System Science themes, science and application questions that led to the inclusion aerosols (A), clouds, convection, and precipitation (CCP) in the list of designated observables (DOs) to be pursued within the decade following the survey. Multiple observing system architectures were considered during the NASA A-CCP study, and dual frequency Ka-W band radars have been identified as components of the most likely architectures due to their ability to significantly contribute to the achievement of the science objectives and their synergy with other essential instruments. We present an algorithm to estimate convective precipitation from dual frequency, Ka- and W-band, observations applicable to the observing system architectures considered in the A-CCP study. The algorithm is based on the radar profiling algorithm used within the operational NASA GPM combined algorithm but features an additional module that makes the retrieval problem well-posed in cases of severe attenuation and potential loss of signal below the freezing level. The additional module is developed from GPM combined retrievals and consists of a procedure that generates an ensemble of potential retrievals consistent with the portions of the Ka-band and W-band observation profiles above the noise level. The ensemble solution is refined based on estimates of Path Integrated Attenuation (PIA) from the Surface Reference Technique (SRT) and radiometric observations.

Mircea Grecu↗
NASA NTRS2011

Visual Object Recognition and Tracking of Tools

A method has been created to automatically build an algorithm off-line, using computer-aided design (CAD) models, and to apply this at runtime. The object type is discriminated, and the position and orientation are identified. This system can work with a single image and can provide improved performance using multiple images provided from videos. The spatial processing unit uses three stages: (1) segmentation; (2) initial type, pose, and geometry (ITPG) estimation; and (3) refined type, pose, and geometry (RTPG) calculation. The image segmentation module files all the tools in an image and isolates them from the background. For this, the system uses edge-detection and thresholding to find the pixels that are part of a tool. After the pixels are identified, nearby pixels are grouped into blobs. These blobs represent the potential tools in the image and are the product of the segmentation algorithm. The second module uses matched filtering (or template matching). This approach is used for condensing synthetic images using an image subspace that captures key information. Three degrees of orientation, three degrees of position, and any number of degrees of freedom in geometry change are included. To do this, a template-matching framework is applied. This framework uses an off-line system for calculating template images, measurement images, and the measurements of the template images. These results are used online to match segmented tools against the templates. The final module is the RTPG processor. Its role is to find the exact states of the tools given initial conditions provided by the ITPG module. The requirement that the initial conditions exist allows this module to make use of a local search (whereas the ITPG module had global scope). To perform the local search, 3D model matching is used, where a synthetic image of the object is created and compared to the sensed data. The availability of low-cost PC graphics hardware allows rapid creation of synthetic images. In this approach, a function of orientation, distance, and articulation is defined as a metric on the difference between the captured image and a synthetic image with an object in the given orientation, distance, and articulation. The synthetic image is created using a model that is looked up in an object-model database. A composable software architecture is used for implementation. Video is first preprocessed to remove sensor anomalies (like dead pixels), and then is processed sequentially by a prioritized list of tracker-identifiers.

English, James↗
NASA NTRS2012

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Nesnas, Issa A.↗
NASA NTRS2012

Validation of MODIS FLH and In Situ Chlorophyll a from Tampa Bay, Florida (USA)

Satellite observation of phytoplankton concentration or chlorophyll-a (chla) is an important characteristic, critically integral to monitoring coastal water quality. However, the optical properties of estuarine and coastal waters are highly variable and complex and pose a great challenge for accurate analysis. Constituents such as suspended solids and dissolved organic matter and the overlapping and uncorrelated absorptions in the blue region of the spectrum renders the blue-green ratio algorithms for estimating chl-a inaccurate. Measurement of suninduced chlorophyll fluorescence, on the other hand, which utilizes the near infrared portion of the electromagnetic spectrum may, provide a better estimate of phytoplankton concentrations. While modelling and laboratory studies have illustrated both the utility and limitations of satellite algorithms based on the sun induced chlorophyll fluorescence signal, few have examined the empirical validity of these algorithms or compared their accuracy against bluegreen ratio algorithms . In an unprecedented analysis using a long term (2003-2011) in situ monitoring data set from Tampa Bay, Florida (USA), we assess the validity of the FLH product from the Moderate Resolution Imaging Spectrometer against a suite of water quality parameters taken in a variety of conditions throughout this large optically complex estuarine system. . Overall, the results show a 106% increase in the validity of chla concentration estimation using FLH over the standard chla estimate from the blue-green OC3M algorithm. Additionally, a systematic analysis of sampling sites throughout the bay is undertaken to understand how the FLH product responds to varying conditions in the estuary and correlations are conducted to see how the relationships between satellite FLH and in situ chlorophyll-a change with depth, distance from shore, from structures like bridges, and nutrient concentrations and turbidity. Such analysis illustrates that the correlations between FLH and in situ chla measurements increases with increasing distance between monitoring sites and structures like bridges and shore. Due probably to confounding factors, expected improvement in the FLH- chla relationship was not clearly noted when increasing depth and distance from shore alone (not including bridges). Correlations between turbidity and nutrient concentrations are discussed further and principle component analyses are employed to address the relationships between the multivariate data sets. A thorough understanding of how satellite FLH algorithms relate to in situ water quality parameters will enhance our understanding of how MODIS s global FLH algorithm can be used empirically to monitor coastal waters worldwide.

Fischer, Andrew↗
NASA NTRS2013

Building a 2.5D Digital Elevation Model from 2D Imagery

When projecting imagery into a georeferenced coordinate frame, one needs to have some model of the geographical region that is being projected to. This model can sometimes be a simple geometrical curve, such as an ellipse or even a plane. However, to obtain accurate projections, one needs to have a more sophisticated model that encodes the undulations in the terrain including things like mountains, valleys, and even manmade structures. The product that is often used for this purpose is a Digital Elevation Model (DEM). The technology presented here generates a high-quality DEM from a collection of 2D images taken from multiple viewpoints, plus pose data for each of the images and a camera model for the sensor. The technology assumes that the images are all of the same region of the environment. The pose data for each image is used as an initial estimate of the geometric relationship between the images, but the pose data is often noisy and not of sufficient quality to build a high-quality DEM. Therefore, the source imagery is passed through a feature-tracking algorithm and multi-plane-homography algorithm, which refine the geometric transforms between images. The images and their refined poses are then passed to a stereo algorithm, which generates dense 3D data for each image in the sequence. The 3D data from each image is then placed into a consistent coordinate frame and passed to a routine that divides the coordinate frame into a number of cells. The 3D points that fall into each cell are collected, and basic statistics are applied to determine the elevation of that cell. The result of this step is a DEM that is in an arbitrary coordinate frame. This DEM is then filtered and smoothed in order to remove small artifacts. The final step in the algorithm is to take the initial DEM and rotate and translate it to be in the world coordinate frame [such as UTM (Universal Transverse Mercator), MGRS (Military Grid Reference System), or geodetic] such that it can be saved in a standard DEM format and used for projection.

Padgett, Curtis W.↗
NASA NTRS1990

Local sensory control of a dexterous end effector

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Pinto, Victor H.↗
NASA NTRS2019

Towards Resilient Autonomous Navigation of Drones

Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a reliable and robust state estimation solution. The main body of literature in robot state estimation focuses on developing complex algorithms favoring accuracy. Typically, these approaches rely on a strong underlying assumption: the main estimation engine will not fail during operation. In contrast, we propose an architecture that pursues robustness in state estimation by considering redundancy and heterogeneity in both sensing and estimation algorithms. The architecture is designed to expect and detect failures and adapt the behavior of the system to ensure safety. To this end, we present HeRO (Heterogeneous Redundant Odometry): a stack of estimation algorithms running in parallel supervised by a resiliency logic. This logic carries out three main functions: a) perform confidence tests both in data quality and algorithm health; b) re-initialize those algorithms that might be malfunctioning; c) generate a smooth state estimate by multiplexing the inputs based on their quality. The state and quality estimates are used by the guidance and control modules to adapt the mobility behaviors of the system. The validation and utility of the approach are shown with real experiments on a ying robot for the use case of autonomous exploration of subterranean environments, with particular results from the STIX event of the DARPA Subterranean Challenge.

Agha-mohammadi, Ali-akbar↗
NASA NTRS1997

Regularization for Atmospheric Temperature Retrieval Problems

Passive remote sensing of the atmosphere is used to determine the atmospheric state. A radiometer measures microwave emissions from earth's atmosphere and surface. The radiance measured by the radiometer is proportional to the brightness temperature. This brightness temperature can be used to estimate atmospheric parameters such as temperature and water vapor content. These quantities are of primary importance for different applications in meteorology, oceanography, and geophysical sciences. Depending on the range in the electromagnetic spectrum being measured by the radiometer and the atmospheric quantities to be estimated, the retrieval or inverse problem of determining atmospheric parameters from brightness temperature might be linear or nonlinear. In most applications, the retrieval problem requires the inversion of a Fredholm integral equation of the first kind making this an ill-posed problem. The numerical solution of the retrieval problem requires the transformation of the continuous problem into a discrete problem. The ill-posedness of the continuous problem translates into ill-conditioning or ill-posedness of the discrete problem. Regularization methods are used to convert the ill-posed problem into a well-posed one. In this paper, we present some results of our work in applying different regularization techniques to atmospheric temperature retrievals using brightness temperatures measured with the SSM/T-1 sensor. Simulation results are presented which show the potential of these techniques to improve temperature retrievals. In particular, no statistical assumptions are needed and the algorithms were capable of correctly estimating the temperature profile corner at the tropopause independent of the initial guess.

Velez-Reyes, Miguel↗
DOE OSTI2025

An evaluation of multi-fidelity methods for quantifying uncertainty in projections of ice-sheet mass change

Abstract. This study investigated the computational benefits of using multi-fidelity statistical estimation (MFSE) algorithms to quantify uncertainty in the mass change of Humboldt Glacier, Greenland, between 2007 and 2100 using a single climate change scenario. The goal of this study was to determine whether MFSE can use multiple models of varying cost and accuracy to reduce the computational cost of estimating the mean and variance of the projected mass change of a glacier. The problem size and complexity were chosen to reflect the challenges posed by future continental-scale studies while still facilitating a computationally feasible investigation of MFSE methods. When quantifying uncertainty introduced by a high-dimensional parameterization of the basal friction field, MFSE was able to reduce the mean-squared error in the estimates of the statistics by well over an order of magnitude when compared to a single-fidelity approach that only used the highest-fidelity model. This significant reduction in computational cost was achieved despite the low-fidelity models used being incapable of capturing the local features of the ice-flow fields predicted by the high-fidelity model. The MFSE algorithms were able to effectively leverage the high correlation between each model's predictions of mass change, which all responded similarly to perturbations in the model inputs. Consequently, our results suggest that MFSE could be highly useful for reducing the cost of computing continental-scale probabilistic projections of sea-level rise due to ice-sheet mass change.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

High speed vibration compensation using magnetic fiducials via NIMBLE

Additive manufacturing (AM) technology, specifically 3D printing, holds great promise for in-orbit manufacturing. In-space printing can significantly reduce the mass, cost, and risk of long-term space exploration by enabling replacement parts to be made as needed and reducing dependence on Earth. However, printing in a zero-gravity environment poses challenges due to the absence of a rigid ground for the print platform, which can result in vibrational and rotational forces that may impact printing integrity. Here, to address this issue, this paper proposes a novel linear magnetic position tracking algorithm, named Navigation Integrating Magnets By Linear Estimation (NIMBLE), for dynamic vibration compensation during 3D printing of truss structures in space. Compared to the most commonly used nonlinear optimization method, the NIMBLE algorithm is more than two orders of magnitude faster. With only a single 3-axis magnet sensor and a small NdFeB magnet, the NIMBLE algorithm provides a simple and easily implemented tracking solution for in-orbit 3D printing.

3D printing in space↗
NASA NTRS2010

Flight Results from the HST SM4 Relative Navigation Sensor System

On May 11, 2009, Space Shuttle Atlantis roared off of Launch Pad 39A enroute to the Hubble Space Telescope (HST) to undertake its final servicing of HST, Servicing Mission 4. Onboard Atlantis was a small payload called the Relative Navigation Sensor experiment, which included three cameras of varying focal ranges, avionics to record images and estimate, in real time, the relative position and attitude (aka "pose") of the telescope during rendezvous and deploy. The avionics package, known as SpaceCube and developed at the Goddard Space Flight Center, performed image processing using field programmable gate arrays to accelerate this process, and in addition executed two different pose algorithms in parallel, the Goddard Natural Feature Image Recognition and the ULTOR Passive Pose and Position Engine (P3E) algorithms

Naasz, Bo↗