| Budget Amount *help |
¥17,810,000 (Direct Cost: ¥13,700,000、Indirect Cost: ¥4,110,000)
Fiscal Year 2014: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2013: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2012: ¥8,450,000 (Direct Cost: ¥6,500,000、Indirect Cost: ¥1,950,000)
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| Outline of Final Research Achievements |
Asynchronous measurements hybrid navigation system was developed. It was found that the developed navigation system was effective. It is known that minimal representation of the attitude has both or either singularity and unboundedness so that they were difficult to use for navigation system. However, minimal representation of attitude is appropriate for 3D terrain mapping system from the viewpoint of the amount of computation and required memories. We found that those difficulties can be avoided by using generalized Rodorigues parameters (GRP), which were minimal representation of attitude and extensions of Rodrigues parameters. Navigation using GRP can be embedded into poor cpu board. We also proposed that singular spectrum analysis and non-negative spectrum analysis was effective to detect outlier in measurements. To reduce computation time for data assimilation, we developed an effective method to derive adjoint system equations by using generalized Tellgen's theorem.
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