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.
An Engineering Vehicle Positioning System for Carrying Rocket Using Extended Kalman Filter
Advanced Materials Research ; 433-440 ; 4873-4877
2012-01-03
5 pages
Article (Journal)
Electronic Resource
English
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