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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
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.
Appears in Collections:JPL TRS 1992+

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