Attitude and position determination scheme of lunar rovers basing on the celestial vectors observation

Cui, Pingyuan; Yue, Fuzhan; Cui, Hutao

doi:10.1109/icitechnology.2007.4290375

Cited by 11 publications

(11 citation statements)

References 13 publications

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“…Since the sun is not stationary, observations made over time will provide the necessary vectors to solve for orientation. In this case, (11) …”

Section: Experiments Descriptionmentioning

confidence: 94%

“…Pingyuan et al [11] describe a method of attitude determination on the moon using sun, Earth and gravity vectors. They formulate the problem similarly to the current paper and also use the q-method to solve for attitude.…”

Section: Prior Workmentioning

confidence: 99%

“…In our experiments, position is measured using the GPS, but even coarse localization is sufficient for a reasonable heading fix. Given this formulation, (11) and (12) where we have used (Vi) ai == 11. The best fit rotation, C SF , can be calculated from only a single pair of observations, but in practice, gG is averaged over a short period (typically around lOs), and converted to gs using the calibration matrix, CSG.…”

Section: Experiments Descriptionmentioning

confidence: 99%

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Sun sensing for planetary rover navigation

Enright

Furgale

Barfoot

2009

2009 IEEE Aerospace Conference

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In this paper, we present an experimental study of sun sensing as a rover navigational aid. Algorithms are outlined to determine (i) rover heading in an absolute reference frame and (ii) absolute rover position (i.e., latitude/longitude). Our sensor suite consists of a sun sensor, inclinometer, and clock (as well as ephemeris data). We describe a technique to determine ground-truth orientation in the field (without using a compass) and present a large number of experimental results (both in Toronto and on Devon Island) showing our ability to determine absolute rover heading to within a few degrees. We also present our preliminary results on determining absolute rover position.

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“…Since the sun is not stationary, observations made over time will provide the necessary vectors to solve for orientation. In this case, (11) …”

Section: Experiments Descriptionmentioning

confidence: 94%

Section: Prior Workmentioning

confidence: 99%

Section: Experiments Descriptionmentioning

confidence: 99%

See 1 more Smart Citation

Sun sensing for planetary rover navigation

Enright

Furgale

Barfoot

2009

2009 IEEE Aerospace Conference

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“…In this section we briefly present two absolute heading estimation algorithms:(i) the Estimation of Absolute heading using a Sun sensor and Inclinometer ( EASI ), developed in our previous work [ 20 ]; and (ii) an optimization-based algorithm ( q-Method ) [ 11 , 13 ]. Both algorithms incorporate information from a Sun sensor and an inclinometer, and produce the sensor’s absolute roll, pitch angles and heading angle with respect to true north at a particular instant in time, date and location on the surface of the planet during operation.…”

Section: Absolute Attitude Update Using Sun Sensor and Inclinometementioning

confidence: 99%

“…It involves a complex calibration procedure with 21 parameters. An algorithm to estimate absolute heading and relative position using a Sun sensor, Earth sensor and an inclinometer was provided in [ 11 ]. The attitude estimation algorithm was described from multiple vector observations using optimization based on Davenport’s q-Method [ 12 ] However, the authors validate their propositions only through simulations, and provide no real data from field experimentation.…”

Section: Introductionmentioning

confidence: 99%

Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

Ilyas

Hong

Cho

et al. 2016

Sensors

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This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level.

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A rapid and high precise calibration method for long-distance cruise missiles

Wang

2013

Aerospace Science and Technology

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Attitude and position determination scheme of lunar rovers basing on the celestial vectors observation

Cited by 11 publications

References 13 publications

Sun sensing for planetary rover navigation

Sun sensing for planetary rover navigation

Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

A rapid and high precise calibration method for long-distance cruise missiles

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