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

Takayuki Ishida, Masaki Takahashi

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
出版社American Institute of Aeronautics and Astronautics Inc.
ISBN(電子版)9781510801097
出版ステータスPublished - 2015
外部発表はい
イベントAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015 - Kissimmee, United States
継続期間: 2015 1月 52015 1月 9

出版物シリーズ

名前AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

Other

OtherAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
国/地域United States
CityKissimmee
Period15/1/515/1/9

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 航空宇宙工学
  • 制御およびシステム工学

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