TY - GEN
T1 - Long-range navigation using solar panels characteristics and angle-of-arrival for planetary rover cooperating with landers
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:
© 2015, E-flow American Institute of Aeronautics and Astronautics (AIAA). All rights reserved.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84973495975
T3 - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
BT - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
Y2 - 5 January 2015 through 9 January 2015
ER -