An Engineering Vehicle Positioning System for Carrying Rocket Using Extended Kalman Filter

Jun Qian; Yi Shan Zeng; Shu Wang Wang

doi:10.4028/www.scientific.net/AMR.433-440.4873

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 433-440An Engineering Vehicle Positioning System for...

An Engineering Vehicle Positioning System for Carrying Rocket Using Extended Kalman Filter

Abstract:

In order to verify a quick launching system for rockets with small and medium sizes, an engineering vehicle localization and navigation sub-system is presented in this article. The structure of the launcher includes the front board and two cylindrical landmarks on both sides. When the vehicle gets close to the launcher, two 2D laser scanners on the vehicle detect the launcher reliably. And an extend Kalman filter is used to estimate the vehicle’s pose relative to the launcher. The localization and navigation results show that the lateral positioning error is smaller than 1cm so that the vehicle could align with the launcher accurately.

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Periodical:

Advanced Materials Research (Volumes 433-440)

Pages:

4873-4877

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.433-440.4873

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Online since:

January 2012

Authors:

Jun Qian, Yi Shan Zeng, Shu Wang Wang

Keywords:

Engineering Vehicle, Extended Kalman Flter (EKF), Laser Scanner, Localization

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