An innovative high accuracy autonomous navigation method for the Mars rovers

Analytic coarse alignment and calibration for inertial navigation system on swaying base assisted by star sensor

“…(see (11)) where ω ie is the earth rotation rate, λ t and L(t) denote the longitude and latitude, respectively. Combining (8) and 9…”

“…The stars offer an infinity of highly stable reference directions [9] and the star sensor becomes an autonomous system. With the development and advantages of the star sensor, it is rapidly introduced to assist the INS for navigation, positioning and mitigating the cumulative error [10,11]. The integrated system plays an important role in military fields.…”

A novel SINS/CNS Integrated Navigation Method Using Model Constraints for Ballistic Vehicle Applications

“…Advanced nonlinear filtering methods such as Unscented Kalman Filter (UKF) and Unscented Particle Filter (UPF) are also introduced to address the model nonlinearities and disturbances, and these methods show improvements in navigation accuracy with still unobservable accelerometer biases (Ali and Fang, 2006; 2009). It should be noted that this problem can be solved for vehicles on the surface of planets by maintaining the navigation frame (mathematical horizontal reference), which is needed to provide latitude and longitude for rovers or explorers (Ning and Liu, 2014; He et al, 2014; Guan et al, 2014; Ning et al, 2016). For vehicles flying beyond the atmosphere, the accelerometer biases cannot be estimated accurately without the existence of a horizontal reference.…”

“…In an analogy with Micro-Electromechanical Systems (MEMS)-based land navigation, the aiding of Nonholonomic Constraints (NHC) or Zero Velocity Updates (ZUPTs) can enhance SINS performance without the addition of other external sensors (Dissanayake et al, 2001; Niu et al, 2012). These constraints have been adopted for autonomous navigation of lunar rovers (Ning and Liu, 2014) and Mars explorers (He et al, 2014; Guan et al, 2014), indicating significant improvements in accuracy. This inspires us to find model constraints for a ballistic vehicle.…”