H2020 Space Robotic SRC- OG4

Transcription

1 H2020 Space Robotic SRC- OG4 CCT/COMET ORB Workshop on Space Rendezvous 05/12/2017 «Smart Sensors for Smart Missions» Contacts: Sabrina Andiappane, Vincent Dubanchet, This project has received funding from the European Union s Horizon 2020 research and innovation programme under grant agreement No

2 Outline 1. General Presentation of I3DS Context What is I3DS? I3DS Consortium 2. Development plan 3. Design of I3DS suite 4. Validation usecase 5. GNC elements 6. Conclusion & Q&A 2

3 1.0 - Context I3DS (Integrated 3D Sensors) is one the six consortiums (Operational Grant 4) involved in the frame of the Strategic Research Cluster (SRC) on Space Robotics technologies Horizon 2020 Space call 2016 to enhance the EU industry competitiveness in space robotics. I3DS project develops a generic modular Inspector Sensors Suite (INSES) which is a smart collection of building blocks and a common set of various sensors answering the needs of near-future space exploration missions in terms of remote and contact sensors with integrated pre-processing and data concentration functions. 3

4 1.1 - I3DS: Integrated 3D Sensors 4

5 1.2 - I3DS Objectives Modular approach: Inter-changeable items Scalable design Standard I/F vs satellite/rover platform Realise a suite of perception sensors for both orbital and planetary applications that will allow localisation and map-making for robotic inspection of orbital assets and for planetary surface exploration Subsets to be defined according to the application: Planetary mission: rover Non-cooperative target capture: debris removal Cooperative rendezvous: servicing, spacetug 5

6 2. Development Plan Development on-going for I3DS building blocks: ICU, sensors, software, pre-processing algorithms and mechanical housing To have a top down approach for design: System requirements Functional requirements Sensors requirements To have a bottom up approach for validation Test each sensor individually Test at system level for one selected scenario to validate the coherence of the sensor suite 6

7 3. I3DS Suite - Elements Credit SINTEF Photo: Werner Juvik 7

8 3. I3DS Suite - Pre-processing Goal: Embedded algorithms on the ICU For all the cameras: Stereo Camera, HR Camera and TIR Camera Vignetting Correction Optical Distortion Correction Histogram Equalisation For the Stereo Camera Stereo Rectification For the HR camera + Pattern Projector Structured light pattern description Depth map/point cloud production from structured light 8

9 4. Validation Usecases Two main usecases Orbital : on-orbit rendezvous & capture for servicing Planetary : autonomous science while traversing (mapping, sample characterization) 9

10 4. Validation Usecases - Orbital Missions Phases Step 1: Inertial Navigation / Drifting orbit Step2: Far-range acquisition of the target Step3: Inspection of the target Step4: Final Approach + Tracking Step5: Capture Step5-bis: Emergency manoeuver Medium-range Approach > 200m Inspection / Observation ~ 20m Rendezvous < 20m Berthing / Docking ~ 3m Servicing 0m 10

11 4. Validation Usecases - Orbital Robotic test bench used to reproduce free-floating dynamics Sensors integrated in one mechanical housing for testing 11

12 4. Validation Usecases - Orbital Closed loop validation (foreseen in summer 2018) Need for extra pre-processing and data fusion algorithms to be on the EGSE (limit with other consortium specialized in data fusion: OG3) o Dense or sparse stereo matching o Dense or sparse point cloud production o Point cloud classification and outlier rejection o Data fusion: for instance Stereo + Lidar Development of a simplified GNC loop for testing Hardware-in-the-loop validation mixing sensors HW and simulator SW 12

13 5. GNC Elements - Guidance Cooperative/Collaborative target No tumbling motion Dedicated markers and grapple fixture for capture Two main sub-phases of the rendezvous performed for validation Ellipse of inspection Straight line approach 13

14 5. GNC Elements - Guidance Simulator outputs for Navigation algorithms Open loop guidance : results obtained from simulations (at the moment) Ellipse of inspection (20-60 m) LIDAR (8 key points) STEREO (Relative pos/att) 14

15 5. GNC Elements - Navigation Different processing algorithms by sensor Stereo Camera: pose estimation based on SLAM algorithm Monocular Camera : pose estimation based on visual odometry LIDAR: Pose estimation based on raw ICP algorithm Camera+Projector: point cloud generation using sine pattern Data fusion foreseen between LIDAR and Stereo Camera pose estimation refinement using Kalman filter 15

16 5. GNC Elements - Navigation Geometric Calibration Checkerboard for calibrating camera on a given set of frames Gray Code patterns for calibrating projector (depending on projector resolution) Relative pose estimation between camera and projector 16

17 5. GNC Elements 3D mapping Innovative 3D mapping technology Monocular camera + Pattern projector Short-range sensor < 5m (end-effector sensor) Able to overcome the sunlight 17

18 5. GNC Elements 3D mapping Innovative 3D mapping technology Preliminary testing with different panels 18

19 5. GNC Elements Image Generation Software-in-the-Loop validation of navigation algorithms Using internal tool «SPICAM» o Camera electronics o Camera optics o Lighting conditions o Thermal imaging Planck CAD model displayed by SpiCam Ganymede and Jupiter displayed by SpiCam I3DS target spacecraft derived from ELITE Platform 19

20 Conclusion I3DS is a system on its own with its own hardware and software with embedded processing for on-board sensing capabilities Enables Robotic payload coupling with state-of-the-art platforms Key building block for future robotic missions Tests foreseen in summer 2018 Hope to present them in the next COMET ORB Worskshop! Credit Thales Alenia Space 20

21 Thank you for your attention! 21