FixTheRobot Explore Robotics / Guidance, Navigation and Control / M1 / M1-L1

This lab works on phones, but writing code is much easier on a laptop.

Guidance, Navigation and Control · The GNC Problem · M1-L1 · Beginner

Who Missed the Pad?

Bench log · Hopper on the test range

10:15. Hopper has landed 4 m from its pad in three different flights, and each team looking at the flights says it is somebody else's problem. The flight computer logged three signals every 50 ms: the command guidance sent, the position estimate navigation produced, and the true position from the range cameras.

You will read the three signals, decide for each flight who is responsible, and in the last flight divide one miss into its three parts. No Python in this lab: the skill is reading a log.

Your task

    Simulation
    solution.pyLoading Python…
    Ctrl+Enter runs
    What Python can I use?

    This lab has no code: you read the plot and the table, and choose answers.

    Hints

    What this lab teaches

    The controller can only act on what it believes, so a miss has three possible owners: a wrong estimate (navigation), a wrong command (guidance) or a command that was not followed (control). Stages 1 to 3 give one flight each, with a different owner; stage 4 has all three at once and asks for the split m = g + c − ε of module 1.

    Grading compares your choice and your sizes with the hidden truth of the simulation, on the same flights re-flown with other noise.

    Theory for this lab

    The GNC Problem labs

    1. M1-L1: Who Missed the Pad?: this lab.

    Educational simplification: one lateral axis, a second-order position loop and three clean causes. Real flights mix causes and noises; module 12 returns to the error budget of a complete design.

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