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Absolute Navigation and Positioning of Mars Rover Using Gravity-Aided Odometry
Liu, Jiandong1,2; Wei, Erhu3,4; Jin, Shuanggen1,5; Liu, Jingnan6
2018-05-01
Source PublicationJOURNAL OF NAVIGATION
ISSN0373-4633
Volume71Issue:3Pages:530-546
Corresponding AuthorWei, Erhu(ehwei@sgg.whu.edu.cn)
AbstractPositioning and Navigation (PN) of Martian rovers still faces challenges due to limited observations. In this paper, the PN feasibilities of Mars rovers based on a Gravity-aided Odometry (GO) system are proposed and investigated in terms of numeric simulations and a case study. Statistical features of the Mars gravity field are studied to evaluate the feature diversity of the background map. The Iterative Closest Point (ICP) algorithm is introduced to match gravity measurements with the gravitational map. The trajectories of Mars Exploration Rovers (MER) and Mars Gravity Map 2011 (MGM2011) are used to complete the experiments. Several key factors of GO including odometry errors, measurement uncertainties, and grid resolution of the map are investigated to evaluate their influences on the positioning ability of the system. Simulated experiments indicate that the GO method could provide an alternative positioning solution for Martian surface rovers.
KeywordMartian rover positioning Planetary rover navigation Iterative closest point Gravity-aided odometry
DOI10.1017/S0373463317000893
WOS KeywordX-RAY PULSARS ; EXPLORATION ROVERS ; VISUAL ODOMETRY ; LOCALIZATION ; REGISTRATION ; MISSION ; FIELD
Indexed BySCI
Language英语
WOS Research AreaEngineering ; Oceanography
WOS SubjectEngineering, Marine ; Oceanography
WOS IDWOS:000430548100002
PublisherCAMBRIDGE UNIV PRESS
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Document Type期刊论文
Identifierhttp://libir.pmo.ac.cn/handle/332002/22491
Collection中国科学院紫金山天文台
Corresponding AuthorWei, Erhu
Affiliation1.Chinese Acad Sci, Shanghai Astron Observ, Key Lab Planetary Sci, Shanghai 200030, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Wuhan Univ, Sch Geodesy & Geomat, Wuhan 430079, Hubei, Peoples R China
4.Collaborat Innovat Ctr Geospatial Technol, Wuhan 430079, Hubei, Peoples R China
5.Bulent Ecevit Univ, Dept Geomat Engn, TR-67100 Zonguldak, Turkey
6.Wuhan Univ, GNSS Res Ctr, Wuhan 430079, Hubei, Peoples R China
Recommended Citation
GB/T 7714
Liu, Jiandong,Wei, Erhu,Jin, Shuanggen,et al. Absolute Navigation and Positioning of Mars Rover Using Gravity-Aided Odometry[J]. JOURNAL OF NAVIGATION,2018,71(3):530-546.
APA Liu, Jiandong,Wei, Erhu,Jin, Shuanggen,&Liu, Jingnan.(2018).Absolute Navigation and Positioning of Mars Rover Using Gravity-Aided Odometry.JOURNAL OF NAVIGATION,71(3),530-546.
MLA Liu, Jiandong,et al."Absolute Navigation and Positioning of Mars Rover Using Gravity-Aided Odometry".JOURNAL OF NAVIGATION 71.3(2018):530-546.
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