Hardware-in-the-Loop Simulations with Umbra Conditions for Spacecraft Rendezvous with PMD Visual Sensors

This paper addresses the validation of a robust vision-based pose estimation technique using Photonic Mixer Device (PMD) sensor as single visual in close-range phase spacecraft rendezvous. First, it was necessary to integrate developed hybrid navigation for PMD into hardware-in-the-loop (HIL) rendezvous system by German Aerospace Center (DLR). Thereafter, HIL tests were conducted European Proximity Operation Simulator (EPOS) with sun simulation and total darkness. For future missions an active sensor, e.g., camera, could be useful use only its own illumination during penumbra or umbra, instead additional flash light. In some tests, rotational rate target object also tuned. Unlike other works, here we present first time closed-loop approaches depth amplitude images sensor. EPOS laboratory, Argos3D camera used at range 8 5.5 m; performance showed promising results.