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Most large space debris has large residual angular momentum, and the de-tumbling and capturing operation can easily cause instability and failure of tracking satellites. Therefore, it is necessary to perform real-time dynamic parameter identification of space debris prior to the imminent de-tumbling and capture operation, thus improving the efficiency and success of active debris removal (ADR) missions. A method for identifying dynamic parameters based on the fusion of visual and inertial data is proposed. To obtain the inertial data, the inertial measurement units (IMU) with light markers were fixed on the debris surface by space harpoon, which has been experimentally proven in space, and the binocular vision was placed at the front of a tracking satellite to obtain coordinates of the light markers. A novel method for denoising inertial data is proposed, which will eliminate the interference from the space environment. Furthermore, based on the denoised data and coordinates of the light markers, the mass-center location is estimated. The normalized angular momentum is calculated using the Euler–Poinsot motion characteristics, and all active debris removal parameters are determined. Simulations with Gaussian noise and experiments in the controlled laboratory have been conducted, the results indicate that this method can provide accurate dynamic parameters for the ADR mission.

Dynamic Parameter Estimation of Large Space Debris Based on Inertial and Visual Data Fusion