The RVS3000 and RVS3000-3D LIDAR Sensors: Recent ...
Transcript of The RVS3000 and RVS3000-3D LIDAR Sensors: Recent ...
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The RVS3000 and RVS3000-3D LIDAR Sensors:Recent Technological Advances and Future Applications
CleanSpace Industrial Days, 25-Oct-2017 @ ESTEC
Florian Kolb, Sebastian Dochow, Mario Rößler, Christoph Schmitt, Michael Windmüller
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OVERVIEW
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Overview
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Jena OptronikPREVIOUS LIDAR ACTIVITIES
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Jena-Optronik LIDAR Sensors
RVS-ARP RVS for ATV / HTV / Cygnus42 Flight Models delivered, 48 under contract, flawless flight heritage
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New Challenges
DEOS (Airbus DS)
On-Orbit Servicing
DebrisRemoval
Planetary Landing
In-OrbitAssembly
ENVISAT
e.Deorbit (ESA)
Europa Lander (NASA)
3DLIDAR
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3DLIDAR
Jena-Optronik LIDAR Sensors
RVS-ARP RVS for ATV / HTV / Cygnus42 Flight Models delivered, 48 under contract, flawless flight heritage
LIRIS-2 onATV-5LiQuaRD*
* LIDAR Qualification for Rendezvous and Docking (DLR)
?RVS3000
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LIRIS-2 – RVS3000 Prototype on ATV-5
RVS3000 prototype on ATV-5§ Recording of 3D point clouds
from ISS during rendezvous anddocking
§ Demonstration of 3D LIDARtechnology
ISS at about 30m distance from docking port
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One Box – Two VersionsRVS3000 & RVS3000-3D
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3D Imaging LIDAR in One-Box-Design§ intended for non-cooperative targets, e.g.
space robotics, on-orbit-servicingà long-duration LEO/GEO missions
§ Operating Range: depending on targetreflectivity characteristics, e.g. for reflectivity0.16 → <1m up to appr. 1500m
§ more powerful internal processing thanRVS3000 (additional Image ProcessingFPGA)
§ high laser power for large operating rangeagainst non-cooperative targets
3D-LIDAR in One-Box-Design§ intended for cooperative targets
(retroreflectors), e.g. ISS supplyà short-duration LEO missions
§ Operating Range: <1m up to 3000m
§ internal data processing for retroreflectortargets
§ reduced laser power for eye safety
§ One-box-design for simplified test, handlingand installation
§ Interface and software-compatible withheritage RVS
LIDAR SensorsRVS3000 and RVS3000-3D
RVS3000cooperative targets
RVS3000-3Dnon-cooperative targets
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RVS3000(-3D) Design Concept
Scanning LIDAR system§ Optical Head with scan mirror assembly
§ Laser and time-of-flight range finderprovides range and amplitudeinformation (+ rough pulse duration)
§ Scanner electronics drives the opticalhead and provides LOS information
§ Microprocessor unit combines the datainto a 3D („4D“ with amplitude) datastream and performs data processingand interface to spacecraft
Laser Time-of-Flight
ScannerElectronics
Microprocessor
Optical HeadMirror Position
Laser Pulse out Return Pulse
TargetObject
Azimuth + ElevationRange + Amplitude
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Features of Scanning LIDAR Concept
Large degree of flexibility with respect to Field-of-View§ Freely defined rectangular scan windows within total Field-of-View
Variable scan speed§ Slow high-resolution scans with “megapixel” images
§ Fast scans for proximity operations with moving/rotating objects.
High dynamic range and range resolution/accuracy§ One send/receive channel – this channel can be designed to allow for a high dynamic
range, a high range resolution, and a high accuracy.
§ Constantly high performance within the total LIDAR FOV
§ Switchable laser power levels
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Mission Scenarios and Future ApplicationsRVS3000
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Mission Scenarios
Retro Reflector RvD
• Identification andtracking of a targetequipped with retroreflectors
• Robustmeasurementagainst highreflectivity retroreflectors
• Identification ofreflectors based onJOP heritagealgorithms for ISSscenario
Satellite Servicingand Debris Removal
• Acquisition andtracking of anuncooperative target
• Aquisition of 3DPointClouds againstmostly diffusesurfaces
• Application of 6DOFmodel-based imageprocessingalgorithms
Planetary landing
• Acquisition of highresolution maps
• Measurementagainst a variety ofmaterials andreflectivitycharacteristics
• Enabling imageprocessing for safelanding spotdetection
RVS3000 RVS3000-3D
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RVS3000-3DLIDAR Pose Estimation
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RVS3000-3D Pose Estimation§ LIDAR + Image processing = “One Box Solution”
§ Real-time calculation of 6DOF information
§ Application of Iterative Closest Point Algorithm
§ Matching between LIDAR scans and target CAD model
LIDAR Pose Estimation
Debris Removal Scenario Match Scan Data with CAD Model
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Debris Removal Scenario
Simulated 3D PointClouds Reconstruction of Target Pose via CAD Model Matching
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Scanning LIDAR
§ Scanning LIDAR provides high flexibility in choice of scan parameters
§ Unique synergy between image processing and LIDAR scan commanding due toautonomous real-time interaction
§ Enabling high performance even in challenging scenarios (e.g. only limited 3Dfeatures visible/utilizable like dynamic solar arrays)
§ Intelligent system design for robust and reliable relative navigation
40°x40° Scan 10°x10° Scan
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Hardware OutlookRVS3000 & RVS3000-3D
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Hardware Outlook
RVS3000 Hardware§ RVS3000 Engineering Model built in 2017 within
DLR German Space Agency project
§ Contract for RVS3000-3Dfor reusable ISS resupply vehicle SNC DreamChaser