Pose Performance of LIDAR-Based Navigation for Satellite Servicing

Flash LIDARs are an important new sensing technology for relative navigation; these sensors have shown promising results during rendezvous and docking applications involving a cooperative vehicle. An area of recent interest is the application of this technology for pose estimation with non-cooperative client vehicles, in support of on-orbit satellite servicing activities. The capability for autonomous rendezvous with non-cooperative satellites will enable refueling and servicing of satellites (particularly those designed without servicing in mind), allowing these vehicles to continue operating rather than being retired. The research investigates numerous issues surrounding pose performance using LIDARs. Models for pose covariance are developed and compared against both simulation results and hardware test results. For the hardware tests, a SwissRanger ToF camera was used as a surrogate for Flash LIDARs.