High‐accuracy absolute positioning for the stationary planetary rover by integrating the star sensor and inclinometer

Yu, Zhan; Zheng, Yu; Li, Chonghui; Wang, Ruopu; Zhu, Yongxing; Chen, Zhanglei

doi:10.1002/rob.21944

Cited by 17 publications

(24 citation statements)

References 12 publications

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“…Hence, the position determined by ℎ according to Equation ( 1) is called the quasi-position (𝜆 𝑖 , 𝜑 𝑖 ) . Zhan et al (2020) numerically proved that the quasi-positions are distributed along a circle on the surface of the planet, while the real position is located at the centre of the circle. Therefore, the spherical circle fitting algorithm is utilised to estimate the accurate position (𝜆, 𝜑) and the tilt correction error 𝜃 as follows (Zhan et al, 2016):…”

Section: Quasi-position Determinationmentioning

confidence: 99%

“…Additionally, (𝑎, 𝑏, 𝑐) is used to describe the attitude of the star sensor in the horizontal frame. Since the fish-eye lens utilises a solid angle projection, 𝑧 𝑆 is written, as in Zhan et al (2020), as…”

Section: Imaging Modelmentioning

confidence: 99%

“…The field test data were collected using a prototype with a star sensor and an inclinometer, as shown in Figure 4 (Zhan et al, 2020). The star sensor is composed of a high-resolution CCD and a fish-eye lens.…”

Section: Experimental Conditionsmentioning

confidence: 99%

“…Enright et al (2012) conducted experiments on the Earth's surface with a positioning error of 800 m, possibly due to the lack of rigorous calibration for the star sensor and the inclinometer. Wei et al (2019) used the quaternion estimator (QUEST) algorithm to align the axis system between the star sensor and the inclinometer, and the positioning accuracy on the Earth's surface reached 20-70 m. Zhan et al (2020) proposed a method to calibrate the relationship between a star sensor and an inclinometer and to compensate for the errors of the atmospheric refraction model, tilt correction and axis inconsistency; the positioning accuracy on the Earth's surface reached 15 m. As is evident, the rigorous calibration of the star sensor is the key to achieving high-accuracy celestial positioning. However, the star sensor calibrations in the abovementioned studies were carried out using artificial control points in a laboratory environment.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive celestial positioning for the stationary Mars rover based on a self-calibration model for the star sensor

Chen

Zhang

2021

J. Navigation

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This paper proposes a method for self-calibrating the star sensor on the Mars rover considering several years of exploration on the surface of Mars. The natural stars in the night sky are considered the control points, and a self-calibration model is deduced in detail according to an imaging model. An adaptive celestial positioning (ACP) algorithm is then introduced, and the calculation procedure is presented in detail to realise self-adjustment based on the self-calibration of the star sensor. Three field tests were conducted on Earth, the results of which show good self-calibration and celestial positioning performances. The positioning results indicate an obvious accuracy improvement using the ACP algorithm compared with that without calibration. Multiple positionings in one night can improve the celestial positioning accuracy to approximately 15 m. For future studies, this self-calibration model will be useful not only for star sensors but also for other optical sensors, such as sun sensors and binocular or stereo-vision cameras.

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Section: Quasi-position Determinationmentioning

confidence: 99%

Section: Imaging Modelmentioning

confidence: 99%

Section: Experimental Conditionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive celestial positioning for the stationary Mars rover based on a self-calibration model for the star sensor

Chen

Zhang

2021

J. Navigation

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“…The precision of star tracker attitude measurements is closely related to the precision of optical parameters. The relevant parameters are precisely measured by a process called calibration, which is typically performed on the ground [2], before launch. However, the operational requirements of a star tracker cannot be satisfied by ground calibration alone because of the following limitations.…”

Section: Introductionmentioning

confidence: 99%

Distortion model of star tracker on-orbit calibration algorithms based on interstar angles

Chen

Zheng

et al. 2022

J. Phys.: Conf. Ser.

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On-orbit calibration techniques for star trackers are critical for precise attitude determination in artificial satellites. As calibration algorithms based on interstar angles do not require a priori information about the satellite attitude, they are a focal point for studies in this area. In these algorithms, the distance between each ideal star point and the principal point on the focal plane is required to model lens distortions. These distances are typically approximated using the distances between observed star points and the principal point, named the simplified approximation method. We propose an embedded iteration method and perform numerical simulations and ground-based night-sky experiments to compare the results of star tracker calibrations based on the two proposed methods. The results indicate that the simplified approximation calibration model has systematic model errors, which are predominantly manifested in the principal point estimates. Nevertheless, the simplified approximation converges more rapidly and easily than embedded iteration. Therefore, embedded iteration should only be used if the calibration accuracy is critical, large lens distortions are present, and ample computational resources are available. Otherwise, simplified approximation should be used to model lens distortions.

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Research on joint calibration and compensation of the inclinometer installation and instrument errors in the celestial positioning system

Wang

et al. 2022

Journal of Field Robotics

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The application of celestial navigation based on inclinometer to aircraft in nearearth space and planetary rovers is a significant development direction. Due to the installation and instrument errors of the inclinometer, it is difficult for tilted platforms to obtain high-precision positioning results. But the installation error of the inclinometer is coupled with the error of the instrument itself, and there is no effective way to measure the two errors separately. To improve the positioning accuracy of the tilted platform, a joint calibration and compensation algorithm of the inclinometer's installation and instrument errors is proposed.First, based on the principle of celestial positioning, the influence analysis model of the inclinometer error on the positioning accuracy is built according to the definition of inclinometer installation error and instrument error, which indicates the traditional algorithms are not suitable for tilted platforms. Then, a joint calibration and compensation algorithm for the inclinometer installation and instrument errors is presented based on coordinate transformation relationship and error propagation characteristics. Finally, a ground test platform is built and the experimental verification of the joint calibration and compensation algorithm of inclinometer error is accomplished. Experiment results show the root mean square errors of the longitude and latitude are 0.00309 ∘ and 0.00283 ∘ , and the mean distance error is 397.46 m, which is far less than the mean distance error 3629.27 m of the traditional calibration algorithm.

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High‐accuracy absolute positioning for the stationary planetary rover by integrating the star sensor and inclinometer

Cited by 17 publications

References 12 publications

Adaptive celestial positioning for the stationary Mars rover based on a self-calibration model for the star sensor

Adaptive celestial positioning for the stationary Mars rover based on a self-calibration model for the star sensor

Distortion model of star tracker on-orbit calibration algorithms based on interstar angles

Research on joint calibration and compensation of the inclinometer installation and instrument errors in the celestial positioning system

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