CanX-4/-5 is a formation flying technology demonstration mission that shall demonstrate sub-meter formation tracking control. The key to this precision control is carrier phase differential GPS state estimation, which enables centimeter-level relative state estimation. In this thesis, the formation flying controller design is reviewed in detail, and an innovative closed-loop formation reconfiguration strategy is presented. In addition, the designs of both coarse- and fine-mode relative state estimators are presented. Formation flying simulations demonstrate the efficacy of the proposed control and coarse estimation. Furthermore, hardware tests are performed to test the computational efficiency of the control algorithms and to validate the fine-mode relative navigation filter.
| Identifer | oai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/25908 |
| Date | 13 January 2011 |
| Creators | Roth, Niels Henrik |
| Contributors | Damaren, Christopher John |
| Source Sets | University of Toronto |
| Language | en_ca |
| Detected Language | English |
| Type | Thesis |
Page generated in 0.0024 seconds