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Please use this identifier to cite or link to this item: http://hdl.handle.net/2014/39572

Title: System design, modelling, and tracking filter for bearings only analog camera
Authors: Shields, Joel F.
Bailey, Richard
Lytle, Brent
Schroeder, Jeff
Lurie, Boris
Acikmese, Ahmet Behcet
Singh, Guru
Keim, Jason
Ahmed, Asif
Keywords: estimation
modelling
sensing
Issue Date: 8-Jun-2004
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2004
Citation: American Control Conference, Portland, Oregon, June 8, 2004.
Abstract: In this paper, each subsystem of the Celestial Sensor is discussed with emphasis given to the filtering algorithms. The celestial sensor software processes sequential frame based bearing measurements on a peripheral CPY specifically designed for this application. A frame preprocessor is used to normalize each bearing measurement and apply a number of accept/reject rules. The accepted set of measurements is then passed to an Extended Kalman Filter (EKP) that is tuned to track the motion of the robot within the room.
URI: http://hdl.handle.net/2014/39572
Appears in Collections:JPL TRS 1992+

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