| Autor: |
Sayaka Kanata, Hiroaki Nakanishi, Tetsuo Sawaragi |
| Jazyk: |
angličtina |
| Rok vydání: |
2017 |
| Předmět: |
|
| Zdroj: |
SICE Journal of Control, Measurement, and System Integration, Vol 10, Iss 2, Pp 85-92 (2017) |
| Druh dokumentu: |
article |
| ISSN: |
1884-9970 |
| DOI: |
10.9746/jcmsi.10.85 |
| Popis: |
Investigations of small planetary bodies (SPBs) such as asteroids and comets have attracted increasing attention recently. In our previous research, a method to localize a space rover was proposed. This method can provide accurate localization even if the rover is located on a small planetary body (SPB). It uses a mother spacecraft as a source of radio-waves. The localization was formulated as an optimization problem to minimize a loss function defined according to estimation error, and gradient-based optimization was applied, however, this required the equation of motion of the mother spacecraft. The purpose of this paper is to introduce a method to localize a rover on an SPB that does not require motion information for the mother spacecraft. In this paper, we propose a solution based on Powell's conjugate direction method. The proposed method requires a large amount of computation. For computation reduction, a method to select the measurement data is proposed. Numerical simulations that assumed that a rover was located on an SPB were conducted along with indoor experiments to assess the proposed method of localization. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
