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Autonomous navigation, guidance and control using LDRI

Inactive Publication Date: 2002-03-21
AMERICAN GNC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Benefits of technology

0037] It is an objective of the present invention to provide a me

Problems solved by technology

Current docking technologies, although very precise, are still not completely reliable.
Current technologies include: Video Guidance Sensors, and Space Vision Systems, which provide automated docking software to the Space Program, but they are limited by the use of unique targets which are highly dependent on illumination and orientation.

Method used

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  • Autonomous navigation, guidance and control using LDRI
  • Autonomous navigation, guidance and control using LDRI
  • Autonomous navigation, guidance and control using LDRI

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Embodiment Construction

[0054] The Laser Dynamic Range Imager (LDRI) developed by Sandia National Laboratories takes care of the illumination problem by using a continuous wave (CW) laser radar to illuminate the scene. The Laser Dynamic Range Imager also eliminates the necessity of using multiple cameras. Each pixel becomes a sensor, since the range is obtained from the phase shift between the incident and reflected laser beams coming from that pixel.

[0055] The LDRI generates intensity and range images from that the object motion information can be derived. Generally, an LDRI based range method is based on static LDRI image processing. The assumption is feasible due to the very low docking velocity (about 1 cm / s for low impact docking). To further improve the accuracy of the LDRI based range method, the motion effects will be taken into account by using optical flow analysis techniques.

[0056] When using LDRI for docking, the reference relative position is set to zero while LDRI coupled with real time image...

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Abstract

An autonomous navigation, guidance, and control process for docking and formation flying by utilizing the laser dynamic range imager (LDRI) and key technologies, including fuzzy logic based guidance and control, optical flow calculation (including cross-correlation, phase-correlation, and image differential), software design and implementation, and verification methods. The autonomous navigation, guidance, and control process includes the steps of providing an expected reference position relative to a target; generating a carrier position and attitude relative to said target by a Range and Intensity Images Provider; producing a relative position and attitude error; and producing control commands from said relative position and attitude error for relative motion dynamics.

Description

CROSS REFERENCE OF RELATED APPLICATION[0001] This is a regular application of a provisional application having an application number 60 / 223,549 and a filing date Aug. 5, 2000.FIELD OF THE PRESENT INVENTION[0003] The present invention relates to autonomous navigation, guidance and control utilizing the laser dynamic range imager (LDRI), and more particularly to an LDRI based high precision tracking, guidance and control system, which includes key technologies, including fuzzy logic based guidance and control, optical flow calculation (including cross-correlation, phase-correlation, and image differential), software design and implementation, and verification methods.BACKGROUND OF THE PRESENT INVENTION[0004] One application of LDRI-based autonomous navigation, guidance and control is the highly accurate automated docking. Current docking technologies, although very precise, are still not completely reliable. Current technologies include: Video Guidance Sensors, and Space Vision System...

Claims

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Application Information

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IPC IPC(8): B64G1/24B64G1/36B64G1/66G01S17/66G01S17/89G05D1/08
CPCB64G1/24B64G1/36B64G1/66B64G2001/247G01S17/66G01S17/89G05D1/0883B64G1/244B64G1/247
Inventor LIN, CHING-FANG
Owner AMERICAN GNC
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