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	Attitude Decoupling Control of Semifloating Space Robots Using Time-Delay Estimation and Supertwisting Control 期刊论文 OAI收割 IEEE Transactions on Aerospace and Electronic Systems, 2021, 卷号: 57, 期号: 6, 页码: 4280-4295 作者: Zhang X(张鑫); Liu JG(刘金国); Tong YC(佟玉闯); Liu YW(刘玉旺) \| 收藏 \| 浏览/下载：38/0 \| 提交时间：2021/08/21 Semi-floating space robots Base attitude decoupling control Quaternion representation Time-delay estimation Super-twisting control
	Robust parameter estimation from point cloud data with noises for augmented reality 会议论文 OAI收割 36th Chinese Control Conference, CCC 2017, Dalian, China, July 26-28, 2017 作者: Zhang TH(张天浩); Wei YZ(魏英姿); Shi, Zhengjin; Gu KF(谷侃锋) \| 收藏 \| 浏览/下载：21/0 \| 提交时间：2017/11/15 Point clouds Attitude estimation Model reconstruction Augmented reality Random sample consensus
	微小型直升机姿态估计和鲁棒控制技术研究学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2012 作者: 常冠清收藏 \| 浏览/下载：60/0 \| 提交时间：2015/09/02 微小型直升机姿态估计 EKF SR-UKF 自抗扰控制 Backstepping 自适应模糊系统飞控系统平台 Miniature Helicopters Attitude Estimation EKF SR-UKF ADRC Backstepping Adaptive Fuzy System Flight Control platform
	基于惯性和视觉传感器的刚体运动估计学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2009 作者: 杨克虎收藏 \| 浏览/下载：91/0 \| 提交时间：2015/09/02 MEMS惯性传感器单目视觉传感器标定刚体运动估计姿态估计四元数卡尔曼滤波 MEMS Inertial Sensor Monocular Vision Sensor Calibration Rigid Motion Estimation Attitude Determination Quaternion Kalman Filter
	Application of CMOS APS star tracker with large FOV in attitude and angular velocity determination (EI CONFERENCE) 会议论文 OAI收割 Advanced Sensor Systems and Applications III, November 12, 2007 - November 14, 2007, Beijing, China Lu D.; Guang J.; Shaoju W.; Tao C. 收藏 \| 浏览/下载：29/0 \| 提交时间：2013/03/25 The paper deals with the spacecraft attitude determination problem using a new kind of star tracker with large FOV based on CMOS APS. Star tracker has been developed since 1970s and proved to be the most accurate sensor ever used in the spacecraft attitude determination systems. But the traditional CCD star tracker also has some disadvantages such as small FOV high power consumption low sample rate and low working angular rate limit which prevent the use of CCD star tracker in attitude large angle maneuvering process. The new kind of star tracker based on CMOS APS has no such disadvantages and is more applicable on modern low-cost agile small satellites. Its higher sample rate and working angular rate limit over traditional CCD star tracker make it more adapt for spacecraft angular velocity determination. Because of the large FOV of the star tracker the mathematical model of traditional CCD star tracker with a small FOV is not appropriate. So a new mathematical model was quoted to fit the star tracker with a large FOV. An alternative adaptive algorithm was also introduced in the paper. It can help the EKF algorithm work lacking of accurate covariance of the observation noise. An optimal estimation algorithm was used to estimate the angular velocity directly from the star tracker measurements. Mathematic simulation results indicate the CMOS APS star tracker can give accurate attitude information and estimated angular rate. The method can be used as the chief attitude determination system design of low-cost satellite without gyros or be used as a backup strategy in the event of gyro failures to enhance the reliability of the attitude determination system.
	INS's error compensation on the base of the celestial theodolite (EI CONFERENCE) 会议论文 OAI收割 ICO20: Optical Devices and Instruments, August 21, 2005 - August 26, 2005, Changchun, China 作者: Guo L.-H.; Zhao H.-B. 收藏 \| 浏览/下载：69/0 \| 提交时间：2013/03/25 In recent years there has been a major upsurge of interest in the integrated inertial navigation system (INS)/celestial navigation system (CNS) as a cost-effective way of providing accurate and reliable navigation aid for civil and military vehicles (ships aircrafts land vehicles and so on). One of the disadvantages of INS is its errors will grow unbounded. The CNS can be used to improve position estimation resulting from INS measurement. This paper describes the design of this. An error model developed earlier is used for CNS/INS filter (Kalman filter) mechanization. In CNS celestial theodolite acquires an image of the sky recognize the most brilliant stars in the image creates with them a "constellation" and searches for this pattern in an on board star catalogue of the observed region to get the precise position and attitude information of vehicles. The Kalman filter method is used to fuse measurement from the system. We can use this information to compensate INS's error. The tests carry out with this system show that system will get accurate navigation information.