Kalwa, J.: GREX - Coordination and control of ... - Grex Project
Kalwa, J.: GREX - Coordination and control of ... - Grex Project
Kalwa, J.: GREX - Coordination and control of ... - Grex Project
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Dynamic Extension <strong>of</strong> the principle<br />
Now: Moving transponder<br />
Vehicle B<br />
∆<br />
B<br />
12<br />
B<br />
AB<br />
AB<br />
r ∆<br />
1<br />
23<br />
r3<br />
B<br />
A<br />
Vehicle A<br />
A<br />
∆ 12<br />
AB<br />
r2<br />
A<br />
∆ 23<br />
Basics:<br />
• Determine ranges from time to time (by modem connection)<br />
• Transmit the ∆‘s (by modem connection) <strong>and</strong> use them as observations<br />
• Data fusion by an Extended Kalman Filter (EKF)
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