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