A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns

Abstract

ABSTRACT:In this research, we develop a Zero Velocity Update (ZUPT) based method for astronaut navigation and evaluate its performance under different locomotion patterns. In this ZUPT based dead-reckoning, the position drift of IMU is corrected using the constraint that the instantaneous velocity is zero when static state is automatically detected. A series of field experiments have been performed on terrains of different slopes and hardness in an urban park and a desert under different locomotion patterns, such as walking and hopping. The experimental results show that the positioning accuracy of the developed ZUPT based dead-reckoning is 1.5%-2.3% under different locomotion patterns, demonstrating the potential of ZUPT for astronaut navigation.

Pluto: Motion Detection for Navigation in a VR Headset

“…Gusenbauer et al [9] consider extra correction sources: localization in a radio footprint map, plausibility check with a building plan. Most works report 0.14 − 2.3% relative positioning error, the lowest achieved on level ground with a constant gait cycle, ensured by a metronome [7], while higher drift was registered on rough and sandy terrains by Sun [10]. Above works mostly consider 2D navigation, because the gravity influence on acceleration measurements is stronger along the vertical axis.…”