L192 Virgin Galactic Completes Test of Spaceship to Carry Tourists

维珍银河的太空船VSS Unity在加利福尼亚莫哈韦沙漠上空完成了重要的测试飞行,达到了82公里的高度,首次触及太空边界。两名飞行员体验了失重状态并观察到地球曲率。此次飞行成功后,维珍银河计划在2019年3月前进行首次载人太空飞行。

Virgin Galactic says its spacecraft designed to launch tourists into space completed an important test flight on Thursday.
The rocket ship, called SpaceShipTwo VSS Unity, climbed more than 82 kilometers during the flight above California’s Mojave Desert. Virgin Galactic said by reaching this height, the spacecraft had reached the boundary of space for the first time.

The 80-kilometer space boundary is used by the U.S. Air Force and other U.S. agencies. That differs from a long-held view that the boundary is reached at 100 kilometers. Virgin Galactic officials say recent research favors the lower number.

At the start of the flight, a special plane carrying the VSS Unity climbed to nearly 13,700 meters before releasing the spaceship. The VSS Unity then fired up its rocket engine and quickly traveled up and out of sight from a group of watchers on the ground.

The spacecraft was piloted by Mark Stucky and former NASA astronaut Frederick “CJ” Sturckow. During the flight, the two men were able to experience weightlessness and see the curvature of the planet, the company said.

The spaceship reentered the atmosphere at 2.5 times the speed of sound and landed safely a few minutes later. In addition to the pilots, the spaceship carried four NASA research payloads and a mannequin named Annie.

Virgin Galactic’s chief, British billionaire Richard Branson, watched the flight from the ground. “Today we have shown Virgin Galactic can open space to the world,” he said. Branson met the pilots after the flight and declared “Space is Virgin territory!”

Virgin Galactic’s latest success comes four years after another spacecraft crashed during a test flight that killed the co-pilot and seriously injured the pilot. The crash led to major delays in the company’s progress in taking tourists to space.

Branson said after Thursday’s test he aims to launch the company’s first space flight with passengers - including himself - by March 2019.

More than 600 people have paid for or put down deposits to fly aboard Virgin’s suborbital flight. Famous people including actor Leonardo DiCaprio and music star Justin Bieber are among them. A 90-minute flight costs $250,000.

Richard Branson is not alone in the space tourism business. Amazon founder Jeff Bezos launched Blue Origin, which also plans to take space tourists on suborbital trips. Blue Origin will use the more traditional method of spacecraft attached to a rocket launched from the ground. Also, SpaceX founder Elon Musk recently announced plans to take a wealthy Japanese businessman and his friends on a trip around the moon.

转载于:https://www.cnblogs.com/huangbaobaoi/p/10122555.html

<think>好的,用户想了解RTAB-Map在Galactic场景下的应用。首先,我需要确认“Galactic”在这里的具体含义。Galactic通常指ROS 2的Galactic版本,所以用户可能是在问RTAB-Map在ROS 2 Galactic版本中的使用案例或机器人SLAM中的应用。 接下来,我需要回忆RTAB-Map的主要功能和特点。RTAB-Map是一个基于图的SLAM方法,支持多种传感器,如RGB-D相机、激光雷达、立体相机等,适用于长期和大规模环境下的定位与建图。在ROS 2 Galactic中,RTAB-Map应该已经适配,并且可以利用ROS 2的特性,比如分布式计算和实时性能。 然后,思考用户可能的实际需求。他们可能是在寻找如何在Galactic环境下配置RTAB-Map,或者具体的应用场景,比如室内导航、三维重建、多机器人协作等。需要列举几个典型的应用案例,并说明其优势,比如闭环检测、多传感器融合等。 还要考虑用户可能的背景。可能是机器人开发者或研究人员,需要实际的应用例子和配置方法。因此,回答需要包含具体的应用场景、配置步骤,以及相关的问题,帮助用户深入理解。 需要确保回答结构清晰,分点说明应用场景,并给出相关参考资料或示例代码。同时,生成的问题应该引导用户进一步探索,比如性能优化、多机器人系统集成等。 最后,检查是否有遗漏,比如ROS 2 Galactic的特有功能对RTAB-Map的影响,或者与其他SLAM算法的对比,确保信息准确且有用。</think>### RTAB-Map在ROS 2 Galactic中的SLAM应用场景 RTAB-Map(Real-Time Appearance-Based Mapping)是基于图的SLAM算法,支持多传感器融合与长期建图。在ROS 2 Galactic框架下,其应用场景包括以下方向: #### 1. **复杂室内导航** - **应用场景**:仓储机器人、服务机器人在多层建筑中的动态路径规划。 - **技术优势**:通过RGB-D相机(如Intel RealSense)或激光雷达(LiDAR)实现高精度3D点云建图,支持动态障碍物检测[^1]。 - **配置示例**: ```bash ros2 launch rtabmap_ros rtabmap.launch.py \ rtabmap_args:="--delete_db_on_start" \ depth_topic:=/camera/depth/image_rect_raw \ rgb_topic:=/camera/color/image_raw \ camera_info_topic:=/camera/color/camera_info ``` #### 2. **地下/隧道环境建图** - **挑战**:光照变化大、GPS信号缺失。 - **解决方案**:融合IMU与立体相机数据,利用RTAB-Map的闭环检测优化漂移误差[^2]。 - **数据融合公式**: $$ p(x_t | z_{1:t}, u_{1:t}) \propto p(z_t | x_t) \int p(x_t | x_{t-1}, u_t) p(x_{t-1} | z_{1:t-1}, u_{1:t-1}) dx_{t-1} $$ #### 3. **农业机器人长期监测** - **特点**:重复场景(如果园)下的长期运行。 - **技术实现**:使用RTAB-Map的`WM`(工作内存)和`STM`(短期内存)管理机制,平衡计算效率与地图一致性[^3]。 #### 4. **多机器人协同SLAM** - **ROS 2 Galactic特性**:利用DDS通信协议实现分布式地图合并。 - **案例**:多台机器人分别建图后,通过`rtabmap-map_assistant`工具进行全局地图拼接。 --- ###
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