Long-range navigation using solar panels characteristics and angle-of-arrival for planetary rover cooperating with landers

Takayuki Ishida, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a new navigation system for long-range exploration in which a planetary exploration rover cooperates with landers. This technique is accomplished using a sensor fusion framework that combines wheel odometry with the electric power generation of a solar array panel and an accelerometer to provide the rover’s relative and absolute attitude. Wheel odometry is also combined with Angle-of-Arrival observation by the beacons of landers using an extended Kalman filter to provide the relative and absolute position. We gathered the experimental data for numerical simulations at two distinct sites, one for attitude determination, and the other for localization. The experimental data are used in numerical simulations. Results show our ability to determine absolute rover attitude to within a few degrees, and decrease absolute rover position errors.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103391
Publication statusPublished - 2015
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference, 2015 - Kissimmee, United States
Duration: 2015 Jan 52015 Jan 9

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2015
CountryUnited States
CityKissimmee
Period15/1/515/1/9

    Fingerprint

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Ishida, T., & Takahashi, M. (2015). Long-range navigation using solar panels characteristics and angle-of-arrival for planetary rover cooperating with landers. In AIAA Guidance, Navigation, and Control Conference American Institute of Aeronautics and Astronautics Inc, AIAA.