< Projeler Sayfası

Proje Adı
Uzay Araçları Buluşma Uygulamaları için Yaklaşma Algılayıcısı

Şirket Adı
TAI

Şirket Mentoru
Burak Akbulut

Akademik Mentor
Prof. Hitay Özbay

Asistan
Ersin Yar

Takım Üyeleri
Muhammet Poyraz, Osman Fatih Kılıç, Safa Özdemir, Sinan Mutlu, Hikmet Yıldız

Summary
Primary idea of this project is to develop a sensor system to be used in space shuttle rendezvous applications that will estimate the location, orientation, linear and angular velocities of a predefined target object with respect to a specified main object. The sensor system also expected to make a simultaneous virtual reconstruction of perceived object on a third party program such as MATLAB and display the obtained real time position, orientation, linear and angular velocity data with the simultaneous virtual reconstruction on a graphical user interface. Determined solution strategy for this problem is using Stereo Vision System (SVS) and Optimal Rigid Body Transformation method to estimate the 3D location and orientation of target object and using linear and extended Kalman filters to track the position of target object along with its linear and angular velocities. The developed solution strategies are tested using a sample target object and a motor driving system that will provide the sample object with predefined angular and linear velocities. For the verification of the results obtained from the experiments done by using the setup defined, several measurements and sensors are used. Eventually, the final product is able to perceive the target object’s position, orientation, angular and linear velocities with no more than 10% error on location, orientation results and no more than 12% error on linear, angular velocity results.