Initial Pose Estimation using PMD Sensor during the Rendezvous Phase in On-Orbit Servicing Missions

This paper describes a designed visual model-based algorithm using the PMD (Photonic Mixer Device) sensor for the initial pose estimation of the target in future On-Orbit Servicing missions. The initial relative pose (position and orientation) in a close range has to be estimated, starting less than 7 meters between target and a camera. The verification of the algorithm is conducted by comparing the estimated pose with a ground truth. The ground truth is derived from the high-accuracy hardware-in-the-loop European Proximity Operations Simulator offered for the simulations of On-Orbit Servicing scenarios on the ground. The results of the simulations have shown the feasibility of the algorithm to estimate the pose with sufficient accuracy as required for a pose initialization algorithm. Consequently, the designed algorithm is applicable for the initial pose estimation using PMD sensor with definite working parameters and conditions.