Absolute Navigation and Positioning of Mars Rover Using Gravity-Aided Odometry
文献类型：期刊论文
| 作者 | Liu, Jiandong1,2; Wei, Erhu3,4; Jin, Shuanggen1,5; Liu, Jingnan6 |
| 刊名 | JOURNAL OF NAVIGATION
 |
| 出版日期 | 2018-05-01 |
| 卷号 | 71期号:3页码:530-546 |
| 关键词 | Martian rover positioning Planetary rover navigation Iterative closest point Gravity-aided odometry |
| ISSN号 | 0373-4633 |
| DOI | 10.1017/S0373463317000893 |
| 通讯作者 | Wei, Erhu(ehwei@sgg.whu.edu.cn) |
| 英文摘要 | Positioning 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. |
| WOS关键词 | X-RAY PULSARS ; EXPLORATION ROVERS ; VISUAL ODOMETRY ; LOCALIZATION ; REGISTRATION ; MISSION ; FIELD |
| WOS研究方向 | Engineering ; Oceanography |
| 语种 | 英语 |
| WOS记录号 | WOS:000430548100002 |
| 出版者 | CAMBRIDGE UNIV PRESS |
| 源URL | [http://libir.pmo.ac.cn/handle/332002/22490]  |
| 专题 | 中国科学院紫金山天文台 |
| 通讯作者 | Wei, Erhu |
| 作者单位 | 1.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 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：紫金山天文台
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