کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10680791 1013330 2014 49 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
An innovative high accuracy autonomous navigation method for the Mars rovers
ترجمه فارسی عنوان
یک روش ناوبری دقیق و مستقل برای روبات های مریخ
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی
Autonomous navigation is an important function for a Mars rover to fulfill missions successfully. It is a critical technique to overcome the limitations of ground tracking and control traditionally used. This paper proposes an innovative method based on SINS (Strapdown Inertial Navigation System) with the aid of star sensors to accurately determine the rover׳s position and attitude. This method consists of two parts: the initial alignment and navigation. The alignment consists of a coarse position and attitude initial alignment approach and fine initial alignment approach. The coarse one is used to determine approximate position and attitude for the rover. This is followed by fine alignment to tune the approximate solution to accurate one. Upon the completion of initial alignment, the system can be used to provide real-time navigation solutions for the rover. An autonomous navigation algorithm is proposed to estimate and compensate the accumulated errors of SINS in real time. High accuracy attitude information from star sensor is used to correct errors in SINS. Simulation results demonstrate that the proposed methods can achieve a high precision autonomous navigation for Mars rovers.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Astronautica - Volume 104, Issue 1, November 2014, Pages 266-275
نویسندگان
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