A semi-physical simulation system for binocular vision guided rendezvous

Autonomous rendezvous in close range requires adequate ground simulations due to its significant difficulties and risks. In this paper, a novel semi-physical simulation system for binocular vision guided rendezvous is established. In this system, virtual three-dimensional models of the spacecrafts and the scene are created using computer graphic technology. Accordingly, images of the binocular cameras on board chaser (servicer) spacecraft are generated and displayed on the liquid crystal displays (LCDs). As the physical component in the simulation loop, two industrial cameras photograph the virtual images on the LCDs so that real camera noise is involved. In order to perform the closed-loop simulation, image acquisition, image processing, pose measurement, chaser guidance, navigation and control, and the system's dynamic motion are conducted. Through the combination of 'virtual environment' and 'physical environment', the simulation system can successfully demonstrate binocular vision guided rendezvous. Simulation data is capable to verify the key algorithms during close range rendezvous. Changing the object model and dynamic model, this system can be applied to other vision-related researches.