RETINA: a hardware-in-the-loop optical facility with reduced optical aberrations
Paolo Panicucci, Fabio Ornati, Francesco Topputo
TL;DR
The paper presents RETINA, a hardware-in-the-loop optical facility designed to validate vision-based navigation algorithms for autonomous space missions with reduced optical aberrations. It develops a paraxial two-lens model to guide component selection, then delivers a low-aberration five-lens optical design optimized in Zemax to minimize distortions across common camera FoVs. A geometrical calibration framework estimates misalignment and centering errors and enables upstream compensation, with subpixel and temperature-sensitivity analyses demonstrating high fidelity of stimulation and realistic HIL behavior. Two applications—unresolved star-field attitude determination and Moon limb edge detection—demonstrate RETINA's versatility in handling both wide and narrow FoVs and different target types, supporting robust VBN and IP algorithm validation on the ground.
Abstract
The increasing interest in spacecraft autonomy and the complex tasks to be accomplished by the spacecraft raise the need for a trustworthy approach to perform Verification & Validation of Guidance, Navigation, and Control algorithms. In the context of autonomous operations, vision-based navigation algorithms have established themselves as effective solutions to determine the spacecraft state in orbit with low-cost and versatile sensors. Nevertheless, detailed testing must be performed on ground to understand the algorithm's robustness and performance on flight hardware. Given the impossibility of testing directly on orbit these algorithms, a dedicated simulation framework must be developed to emulate the orbital environment in a laboratory setup. This paper presents the design of a low-aberration optical facility called RETINA to perform this task. RETINA is designed to accommodate cameras with different characteristics (e.g., sensor size and focal length) while ensuring the correct stimulation of the camera detector. A preliminary design is performed to identify the range of possible components to be used in the facility according to the facility requirements. Then, a detailed optical design is performed in Zemax OpticStudio to optimize the number and characteristics of the lenses composing the facility's optical systems. The final design is compared against the preliminary design to show the superiority of the optical performance achieved with this approach. This work presents also a calibration procedure to estimate the misalignment and the centering errors in the facility. These estimated parameters are used in a dedicated compensation algorithm, enabling the stimulation of the camera at tens of arcseconds of precision. Finally, two different applications are presented to show the versatility of RETINA in accommodating different cameras and in simulating different mission scenarios.