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Entwurf Eines Zustandsbeobachters Mit Zustandsnebenbedingungen

Entwurf Eines Zustandsbeobachters Mit Zustandsnebenbedingungen

          
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About the Book

Für die Rendezvousnavigation wird ein neuer Ansatz präsentiert, um mit einem Raumfahrzeug (Chaser) relativ zu einem gänzlich unbekannten und unkooperativen anderen Raumfahrzeug (Target) vollständig autonom navigieren zu können. Dazu wurde zur Schätzung von Relativposition und Relativgeschwindigkeit der Raumfahrzeuge ein Schätzfilter entworfen, dessen Messwerte aus simulierten Abstandsvektormessungen (vom Chaser zu optisch markanten Punkten des Targets) einer Kamera bestehen. Der aus der mobilen Robotik bekannte SLAM-Ansatz (Simultaneous Localisation and Mapping) wurde hier erstmals für die Rendezvousnavigation angewendet und erweitert. Die wesentlichen Unterschiede zu bisher bekannten SLAM-Ansätzen sind, dass zum Einen die (Relativ)geschwindigkeit zu schätzen ist; zum Anderen kann nicht von einem gemeinsamen Bezugskoordinatensystem für die Kartenerstellung und Bewegungsschätzung ausgegangen werden, da das Target um eine beliebige Achse rotieren kann. Die entwickelten Beobachter basieren auf dem EKF-SLAM (Erweitertes Kalmanfilter) und dem FastSLAM 2.0. Ausführliche Simulationsuntersuchungen zeigen, dass die Algorithmen sehr robust und genau die Zustandsgrößen schätzen.


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Product Details
  • ISBN-13: 9783639386271
  • Publisher: AV Akademikerverlag
  • Binding: Paperback
  • Language: German
  • Returnable: N
  • Spine Width: 12 mm
  • Width: 152 mm
  • ISBN-10: 3639386272
  • Publisher Date: 09 Jan 2012
  • Height: 229 mm
  • No of Pages: 212
  • Series Title: German
  • Weight: 318 gr


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