LIIVe: A Small, Low-Cost Autonomous Inspection Vehicle
LIIVe: A Small, Low-Cost Autonomous Inspection Vehicle
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LIIVe：小型低成本自主检查车
DOI：
10.2514/6.2009-6544
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发表时间：
2009
影响因子：
1.6
通讯作者：
Stephen Roderick
中科院分区：
文献类型：
--
作者：
C. Henshaw;L. Healy;Stephen Roderick
低设计冲击检测车（live）是海军研究实验室的一项研究计划，旨在设计和验证自主检测主卫星所需的技术、传感器和算法。live被设想为一种独立的检查工具，体积小，价格便宜，足以构成卫星系统的现成组件。在操作上，live与主机对接，并在部署失败或其他需要主机高质量图像的在轨问题时释放；它向任务控制人员提供主机的图像，同时保持被动安全轨迹，然后重新对接或自行处理。为了便于采用，live的指导设计原则是在主机上施加尽可能少的设计更改。值得注意的是，live不需要共享通信或电源，除了连接到对接端口的单个光学基准之外，也不使用相对导航辅助设备。本文描述了这种系统所带来的相关导航挑战，以及用于解决这些挑战的传感器和算法方法，包括基于光流的碰撞检测、实时被动安全轨迹规划和低计算负担的决策逻辑。
The Low-design Impact Inspection Vehicle (LIIVe) is a Naval Research Laboratory research program to design and validate the techniques, sensors, and algorithms required to autonomously inspect a host satellite. LIIVe is envisioned as a self-contained inspection vehicle that is small and inexpensive enough to constitute an off-the-shelf component of a satellite system. Operationally, LIIVe is docked to its host and is released in case of a deployment failure or other on-orbit issue that requires high-quality imagery of the host; it provides imagery of the host to mission controllers while maintaining passively-safe trajectories, and then either re-docks or disposes of itself. In order to facilitate its adoption LIIVe’s guiding design principle is to impose as few design changes on the host as possible. Notably, LIIVe does not require shared communications or power and does not utilize relative navigation aids except for a single optical fiducial attached to the docking port. This paper describes the relative navigation challenges such a system entails and the sensor and algorithmic approaches being taken to address them, including optic flow-based collision detection, real-time passively safe trajectory planning, and low–computational–burden decision making logic.