TY - JOUR
T1 - Attitude determination of planetary exploration rovers using solar panels characteristics and accelerometer
AU - Ishida, Takayuki
AU - Takahashi, Masaki
N1 - Funding Information:
This work was supported in part by JST, CREST . The authors would like to express gratitude to JST, CREST for support and help.
Publisher Copyright:
© 2014 IAA. Published by Elsevier Ltd. All rights reserved.
PY - 2014/12
Y1 - 2014/12
N2 - In this study, we propose a new attitude determination system, which we call Irradiance-based Attitude Determination (IRAD). IRAD employs the characteristics and geometry of solar panels. First, the sun vector is estimated using data from solar panels including current, voltage, temperature, and the normal vectors of each solar panel. Because these values are obtained using internal sensors, it is easy for rovers to provide redundancy for IRAD. The normal vectors are used to apply to various shapes of rovers. Second, using the gravity vector obtained from an accelerometer, the attitude of a rover is estimated using a three-axis attitude determination method. The effectiveness of IRAD is verified through numerical simulations and experiments that show IRAD can estimate all the attitude angles (roll, pitch, and yaw) within a few degrees of accuracy, which is adequate for planetary explorations.
AB - In this study, we propose a new attitude determination system, which we call Irradiance-based Attitude Determination (IRAD). IRAD employs the characteristics and geometry of solar panels. First, the sun vector is estimated using data from solar panels including current, voltage, temperature, and the normal vectors of each solar panel. Because these values are obtained using internal sensors, it is easy for rovers to provide redundancy for IRAD. The normal vectors are used to apply to various shapes of rovers. Second, using the gravity vector obtained from an accelerometer, the attitude of a rover is estimated using a three-axis attitude determination method. The effectiveness of IRAD is verified through numerical simulations and experiments that show IRAD can estimate all the attitude angles (roll, pitch, and yaw) within a few degrees of accuracy, which is adequate for planetary explorations.
KW - Attitude determination
KW - Navigation
KW - Planetary rover
KW - Solar panel
KW - q method
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U2 - 10.1016/j.actaastro.2014.10.013
DO - 10.1016/j.actaastro.2014.10.013
M3 - Article
AN - SCOPUS:84908498748
SN - 0094-5765
VL - 105
SP - 344
EP - 354
JO - Acta Astronautica
JF - Acta Astronautica
IS - 1
ER -