Multi-sensor Testing for Automated Rendezvous and Docking

During the past two years, many sensors have been tested in an open-loop fashion in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL) to both determine their suitability for use in Automated Rendezvous and Docking (AR&D) systems and to ensure the test facility is prepared for future multi-sensor testing. The primary focus of this work was in support of the CEV AR&D system, because the AR&D sensor technology area was identified as one of the top risks in the program. In 2006, four different sensors were tested individually or in a pair in the MSFC FRL. In 2007, four sensors, two each of two different types, were tested simultaneously. In each set of tests, the target was moved through a series of pre-planned trajectories while the sensor tracked it. In addition, a laser tracker "truth" sensor also measured the target motion. The tests demonstrated the functionality of testing four sensors simultaneously as well as the capabilities (both good and bad) of all of the different sensors tested. This paper outlines the test setup and conditions, briefly describes the facility, summarizes the earlier results of the individual sensor tests, and describes in some detail the results of the four-sensor testing. Post-test analysis includes data fusion by minimum variance estimation and sequential Kalman filtering. This Sensor Technology Project work was funded by NASA's Exploration Technology Development Program.