A DSP embedded optical naviagtion system

• Main Author: Gunnam, Kiran Kumar
• Other Authors: Kehtarnavaz, Nasser
• Format: Others
• Language: en_US
• Published: Texas A&M University 2004
• Subjects: Active beacons; decimating filter bank; digital signal processor (DSP); frequency division multiplexing (FDM); Gaussian least squares differential correction (GLSDC); modified Rodrigues parameters (MRPs); noncontact optoelectronic sensor; positioning system; precision navigation; position sensitive diode (PSD) sensor; six-degrees-of-freedom (6DOF) estimation; spacecraft docking; synchronous demodulation; vision-based navigation (VISNAV).
• Online Access: http://hdl.handle.net/1969.1/13

Spacecraft missions such as spacecraft docking and formation flying require high precision relative position and attitude data. Although Global Positioining Systems can provide this capability near the earth, deep space missions require the use of alternative technologies. One such technology is the vision-based navigation (VISNAV) sensor system developed at Texas A&M University. VISNAV comprises an electro-optical sensor combined with light sources or beacons. This patented sensor has an analog detector in the focal plane with a rise time of a few microseconds. Accuracies better than one part in 2000 of the field of view have been obtained. This research presents a new approach involving simultaneous activation of beacons with frequency division multiplexing as part of the VISNAV sensor system. In addition, it discusses the synchronous demodulation process using digital heterodyning and decimating filter banks on a low-power fixed point DSP, which improves the accuracy of the sensor measurements and the reliability of the system. This research also presents an optimal and computationally efficient six-degree-of-freedom estimation algorithm using a new measurement model based on the attitude representation of Modified Rodrigues Parameters.