Continuous-discrete extended Kalman filter based parameter identification method for space robots in postcapture
Teng Zhang,
Peng Shi,
Yang Yang
et al.
Abstract:Space robots have become increasingly important in on-orbit missions, especially for capturing noncooperative targets. However, a major challenge is that the inertial parameters of these targets are often unknown, but crucial for post-capture tasks. This paper proposes continuous-discrete extended Kalman filter (CD-EKF) based identification methods that rely solely on noisy measurements of the manipulator’s rotation angle, the base’s attitude angle, and its position. The methods exploit the conservation of mom… Show more
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