Absolute Navigation Information Estimation for Micro Planetary Rovers

Ilyas, Muhammad; Cho, Kuk; Park, Sangdeok; Baeg, Seung-Ho

doi:10.5772/62250

Cited by 3 publications

(6 citation statements)

References 12 publications

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“…Prior studies generally use the sun as a control point to determine the relationship between the sun sensor and inclinometer, which must wait for the sun to move across several long traces and obtain low-precision results due to having only one control point in the sky [6,7,19]. However, the 10-m diameter dome with 37 control points provides ideal conditions for the sun sensor and inclinometer calibration.…”

Section: Sun Sensor and Inclinometer Alignment Modelmentioning

confidence: 99%

High-Precision Heading Determination Based on the Sun for Mars Rover

Yu¹,

Chen

2018

Advances in Astronomy

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Since the American Mars Exploration Rover Opportunity landed on Mars in 2004, it has travelled more than 40 km, and heading-determination technology based on its sun sensor has played an important role in safe driving of the rover. A high-precision heading-determination method will always play a significant role in the rover’s autonomous navigation system, and the precision of the measured heading strongly affects the navigation results. In order to improve the heading precision to the 1-arcminute level, this paper puts forward a novel calibration algorithm for solving the comparable distortion of large-field sun sensor by introducing an antisymmetric matrix. The sun sensor and inclinometer alignment model are then described in detail to maintain a high-precision horizon datum, and a strict sun image centroid-extraction algorithm combining subpixel edge detection with circle or ellipse fitting is presented. A prototype comprising a sun sensor, electronic inclinometer, and chip-scale atomic clock is developed for testing the algorithms, models, and methods presented in this paper. Three field tests were conducted in different months during 2017. The results show that the precision of the heading determination reaches 0.28–0.97′ (1σ) and the centroid error of the sun image and the sun elevation are major factors that affect the heading precision.

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Section: Sun Sensor and Inclinometer Alignment Modelmentioning

confidence: 99%

High-Precision Heading Determination Based on the Sun for Mars Rover

Yu¹,

Chen

2018

Advances in Astronomy

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“…However, the rover frame corresponds to the definition of aerospace vehicles, e.g., by forward, right and down axes. Transformation matrices used in this work are given in our previous work [ 20 ].…”

Section: Attitude Estimation In Planetary Environmentmentioning

confidence: 99%

“…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%

“…, angle α , angle β ) using simple trigonometry. The mathematical details of the EASI algorithm are given in our previous work [ 20 ]. The EASI algorithm is described here briefly in Algorithm 1, below.…”

Section: Absolute Attitude Update Using Sun Sensor and Inclinometementioning

confidence: 99%

“… Illustration of the relation between rover heading angle obtained from the Sun position using the Sun sensor, and from Sun ephemeris data. α Ephe is the Sun’s azimuth angle from the ephemeris data, α SS is the Sun azimuth angle from the Sun sensor and

is the rover’s heading angle [ 20 ]. …”

Section: Figurementioning

confidence: 99%

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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 Novel Approach against Sun Glare to Enhance Driver Safety

et al. 2020

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The automotive industry is developing continuously, trying to improve, among others, the safety of drivers, passengers, and pedestrians. Using modern technology, the dangers caused by weather hazards like rain, snow, fog, or glare were identified and reduced. This paper presents an anti-glare solution using existing technologies that can be found already in a high-end car like the driver’s eyes tracking systems, light intensity sensors, or head-up displays. In addition to the existing elements, a sun tracking sensor is required to detect the point where the sun light has the maximum intensity on the windshield surface. Knowing the driver’s position and the point on the windshield where the sunlight has a high intensity, a dark spot can be created on the windshield in order to reduce the discomfort created by glare. Depending on the intensity of the light and taking into consideration the traffic safety laws, the spot’s transparency can vary between certain limits. Therefore, the dangers caused by glare will be diminished and the risks of not observing pedestrians, other traffic participants, traffic signs, or sudden curves will be considerably lower. Another advantage of using a digital sunshade based on smart glass or in-glass transparent displays, instead of a regular sunshade, is that the whole windshield can be protected against glare not just the top of it. The results were verified and highlighted using computer simulations done via a MATLAB environment.

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Absolute Navigation Information Estimation for Micro Planetary Rovers

Cited by 3 publications

References 12 publications

High-Precision Heading Determination Based on the Sun for Mars Rover

High-Precision Heading Determination Based on the Sun for Mars Rover

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

A Novel Approach against Sun Glare to Enhance Driver Safety

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