Date of Award

7-2019

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical and Civil Engineering

First Advisor

Hector Gutierrez

Second Advisor

Matthew Jensen

Third Advisor

Marius Silaghi

Fourth Advisor

Ashok Pandit

Abstract

This paper presents the redeployment and demonstration of the Photogrammetric Video Guidance Sensor (PVGS) as a position and attitude sensor for proximity maneuvers and formation flight of small spacecraft. The original PVGS was developed to use a smartphone as its hardware and an Android application as its software; however, this paper provides a possibility for using a smaller and cheaper single-board computer, Raspberry Pi as new hardware, and for using a Java program run in Linux as its software. We finally achieved the approximate performance compared to the original PVGS. At the current stage, a PID controller was supposed to be used to generate the control command based on the PVGS measurements. The system was demonstrated as controlling the 3-DOF planar motion dynamics of the Resonant Inductive Near-field Generation Systems, RINGS ground unit. The system’s motion control performance was experimentally demonstrated in the tracking maneuvers. The results highlight the capabilities and performance of Raspberry Pi PVGS as a vision-based, real-time position and attitude sensor for motion control.

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