S. Kanata, H. Nakanishi, and T. Sawaragi (Japan)
Optimization, Radio Wave Based Positioning, Rovers for Small Planetary Bodies
In previous work, we proposed a method of localization for a rover, which uses measurement of round-trip propagation delay of radio waves between a rover and a mother spacecraft [1]. It is useful for a rover on any size of plan etary body, while conventional methods could not apply to a rover on a small planetary body with a diamter less than 1000 (m). However, the method assumed that precise information about the rotation of the small planetary body is known. This paper describes a method to estimate rotational parameters together with the position of the rover based on radio-wave-based measurements. The method is formulated as an optimization problem by deļ¬ning performance index based on estimation error in measurement. This optimization problem is dynamic and non linear, moreover, the variables have different scales. A solution of this optimization problem is described here by applying a method without calculating derivatives [2]. Simulation results are also shown to evaluate the estimation accuracy of the proposed method.
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