Spacecraft 6-DoF Pose Estimation and its Application for Unknown Environment Landing Decision Making

Abstract

For a spacecraft acting an astronautic mission the information of attitude and position is doubtlessly necessary for controlling the motion of spacecraft especially the mission of landing However in the environment of outer space sensors for motion control in general aerial vehicle such as magnetometer GPS and pressure altimeter are generally unavailable With such requirement the research of estimating attitude and position without those sensors is crucial In order to reach such target the technique of simultaneous localization and mapping (SLAM) can make contribution With the use of sensors like LiDAR Radar or vision attitude and position can be estimated through registration of local scan data and global map data Furthermore apart from pose estimation and localization the decision of landing zone is also considered in this research With the application of surface reconstruction the region satisfying the requirement of planar sufficiently wide and lowly tilted can be searched out through the properties of plane Once the state of motion and the landing zone are ready the spacecraft may start the landing mission through above information to achieve the target of spacecraft 6-DoF pose estimation and its application for unknown environment landing decision making

Date of Award	2019
Original language	English
Supervisor	Chao-Chung Peng (Supervisor)