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This A M C system was tested extensively using hardware-in-the-loop simulations in the Flight Robotics Laboratory, and a rendezvous sensor, the Video Guidance Sensor was developed and successfully flown on the Space Shuttle on flights STS and STS, zyx proving the concept of a video- based sensor. This reliance on the labor intensive manned interface for control of rendezvous and docking vehicles has a significant impact on the cost of the operation of the International Space Station ISS and precludes the use of any U.
The Soviets have the capability to autonomously dock in space, but their system produces a hard docking with excessive velocity and therefore force at contact. Advances in both video and signal processing technologies and the lessons learned from the two successful flight experiments provided a baseline for the development. The Advanced Video Guidance Sensor AVGS has greatly increased performance and additional capability for longer-range operation with a new target designed as a direct replacement for existing ISS hemispherical reflectors.
The MSFC also developed "World Class" Agency unique test facilities that allow for the evaluation of rendezvous sensors and automated rendezvous and docking systems. The facilities allow for all-digital software simulations, varying degrees of HWIL simulation, and include orbital lighting simulation. This led to the development and refinement of a series of video-based sensors. Video was chosen as a simple method of viewing an entire field-of-view at one time while getting fast updates.
After the flight experiment, technology advancements, lessons learned, and changing requirements led to the development of the Advanced Video Guidance Sensor. The sensor determines the relative positions and attitudes between the active sensor and the passive target.
The VGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state camera to detect the return from the target, and a frame grabber and digital signal processor to convert the video information into the relative positions and attitudes. The VGS was divided into a sensor head and an electronics module. The sensor head. The system will acquire and track the VGS target within the defined field-of-view between 1 meter and meters range, and the VGS was designed to acquire and track the target at relative attitudes of k 10 degrees in pitch and yaw and at any roll angle.
The sensor outputs the data at 5 Hz, and the target and sensor software and hardware have been designed to permit two independent sensors to operate simultaneously. This allows for redundant sensors using a common target, with each sensor centered on its own short-range target when the chase vehicle and target vehicle are close together.
The on orbit performance of the VGS was exceptional with all the design goals met. The sensor was also able to track in all orbital lighting conditions, an important capability to demonstrate for a vision-based system.
Detailed technical papers describing the operation of the sensor and the results of the two flight experiments are available from the referenced Web site at the end of this paper and from Howard, ; a; b. In fact, the new target is a direct replacement for the existing ISS hemispherical zyxw reflector and provides all the existing capability plus 6 degree of fi-eedom 6 DOF information for docking when used zyxwv with the AVGS.
Using a short-range target and a larger-sized target 1 meter long that has three zyxwvut 1. The AVGS operates at data output rates of up to 25 Hz and tracking rates of up to 75 Hz internally and can detect retro-reflectors at a range greater that 1 km. The operation of the mission is accomplished by stepping through a set of automated maneuvers, or events, through which the Chase Vehicle CV moves in a safe and assured way towards the Target Vehicle TV to eventual dock.
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