Abstract
A truncated singular value decomposition UKF (TSVD-UKF) algorithm was presented to fuse measurements from vision system and IMU system for position and attitude determination of 4-DOF spacecraft docking simulator. To avoid the difficulty of calculating Jacobian and the divergence for the problem caused by linearization of EKF, UKF algorithm was employed which is more accurate and robust for position and attitude determination. Truncated singular value decomposition was adopted to generate smaller size of sigma points for UKF to reduce computational cost caused by large dimension of state. Experimental results validate accuracy and efficiency of the TSVD-UKF fusion algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 458-463 |
| Number of pages | 6 |
| Journal | Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) |
| Volume | 42 |
| Issue number | SUPPL. 1 |
| State | Published - Sep 2011 |
Keywords
- Air-bearing simulator of rendezvous and docking
- Inertia system
- Information fusion
- TSVD-UKF
- Vision system
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