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Sensors 2017, 17(3), 655; doi:10.3390/s17030655

Error Analysis and Calibration Method of a Multiple Field-of-View Navigation System

1
State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China
2
Astronaut Center of China, Beijing 100094, China
*
Authors to whom correspondence should be addressed.
Academic Editor: Vittorio M.N. Passaro
Received: 9 December 2016 / Revised: 10 March 2017 / Accepted: 20 March 2017 / Published: 22 March 2017
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [4635 KB, uploaded 22 March 2017]   |  

Abstract

The Multiple Field-of-view Navigation System (MFNS) is a spacecraft subsystem built to realize the autonomous navigation of the Spacecraft Inside Tiangong Space Station. This paper introduces the basics of the MFNS, including its architecture, mathematical model and analysis, and numerical simulation of system errors. According to the performance requirement of the MFNS, the calibration of both intrinsic and extrinsic parameters of the system is assumed to be essential and pivotal. Hence, a novel method based on the geometrical constraints in object space, called checkerboard-fixed post-processing calibration (CPC), is proposed to solve the problem of simultaneously obtaining the intrinsic parameters of the cameras integrated in the MFNS and the transformation between the MFNS coordinate and the cameras’ coordinates. This method utilizes a two-axis turntable and a prior alignment of the coordinates is needed. Theoretical derivation and practical operation of the CPC method are introduced. The calibration experiment results of the MFNS indicate that the extrinsic parameter accuracy of the CPC reaches 0.1° for each Euler angle and 0.6 mm for each position vector component (1σ). A navigation experiment verifies the calibration result and the performance of the MFNS. The MFNS is found to work properly, and the accuracy of the position vector components and Euler angle reaches 1.82 mm and 0.17° (1σ) respectively. The basic mechanism of the MFNS may be utilized as a reference for the design and analysis of multiple-camera systems. Moreover, the calibration method proposed has practical value for its convenience for use and potential for integration into a toolkit. View Full-Text
Keywords: multiple field-of-view navigation system; imaging model; error analysis; checkerboard-fixed post-processing calibration multiple field-of-view navigation system; imaging model; error analysis; checkerboard-fixed post-processing calibration
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Shi, S.; Zhao, K.; You, Z.; Ouyang, C.; Cao, Y.; Wang, Z. Error Analysis and Calibration Method of a Multiple Field-of-View Navigation System. Sensors 2017, 17, 655.

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