Verfahren zur Bestimmung der Zustandsgrössen eines sich bewegenden starren Körpers im Raum

摘要

The method involves using measurement data obtained from active sensors using three retroreflectors, whose configuration with respect to the other body is known and defines a co-ordinate system specific to the other body. Measured and estimated data are compared, to correct estimated data, until they are sufficiently accurate. The state parameters (x(k), y(k)) of the moving body are determined with a state monitor (2), which process the measurement data from scanning the individual retroreflectors using an internal memory to obtain a desired output signal. Estimated state vectors (x asterisk (k), y asterisk (k)) are also calculated from the initial values and the system parameters known from the implemented operation. The measured data are used to correct the estimated data for each measurement cycle of position and movement ratios of the body, so that after a given number of measurement and calculation cycles, the estimated data are sufficiently accurate. The estimated data are then used as state parameters for the body.