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During the previous 15 years, Rendezvous and Docking Sensors (RVS) were developed, manufactured and qualified. In the mean time they were successfully applied in some space missions: For automatic docking of the European ATV “Jules Verne” on the International Space Station in 2008; for automatic berthing of the first Japanese HTV in 2009, and even the precursor model ARP-RVS for measurements during Shuttle Atlantis flights STS-84 and STS-86 to the MIR station. Up to now, about twenty RVS Flight Models for application on ATV, HTV and the American Cygnus Spacecraft were manufactured and delivered to the respective customers. RVS is designed for tracking of customer specific, cooperative targets (i.e. retro reflectors that are arranged in specific geometries). Once RVS has acquired the target, the sensor measures the distance to the target by timeof- flight determination of a pulsed laser beam. Any echo return provokes an interrupt signal and thus the readout of the according encoder positions of the two scan mirrors that represent Azimuth and Elevation measurement direction to the target. [2], [3]. The capability of the RVS for 3D mapping of the scene makes the fully space qualified RVS to be real 3D Lidar sensors; thus they are a sound technical base for the compact 3D Lidar breadboard that was developed in the course of the Imaging Lidar Technology (ILT) project.

Imaging lidar technology: development of a 3D-lidar elegant breadboard for rendezvous and docking, test results, and prospect to future sensor application