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

文献类型：期刊论文

作者Zhan, Yinhu1,2; Chen, Shaojie2,3; He, Donghan2
刊名ADVANCES IN ASTRONOMY
出版日期2018
页码14
ISSN号1687-7969
DOI10.1155/2018/1493954
英文摘要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 l-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' (1 sigma) and the centroid error of the sun image and the sun elevation are major factors that affect the heading precision.
WOS关键词PLANETARY ROVERS ; NAVIGATION ; SENSOR ; POSITION ; CAMERA
资助项目National Natural Science Foundation of China (NSFC)[41704006] ; National Natural Science Foundation of China (NSFC)[41504018] ; State Key Laboratory of Geo-Information Engineering[SKLGIE2016-Z-2-1]
WOS研究方向Astronomy & Astrophysics
语种英语
WOS记录号WOS:000441622400001
出版者HINDAWI LTD
资助机构National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; State Key Laboratory of Geo-Information Engineering ; State Key Laboratory of Geo-Information Engineering ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; State Key Laboratory of Geo-Information Engineering ; State Key Laboratory of Geo-Information Engineering ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; State Key Laboratory of Geo-Information Engineering ; State Key Laboratory of Geo-Information Engineering ; National Natural Science Foundation of China (NSFC) ; National Natural Science Foundation of China (NSFC) ; State Key Laboratory of Geo-Information Engineering ; State Key Laboratory of Geo-Information Engineering
源URL[http://210.72.145.45/handle/361003/11621]  
专题中国科学院国家授时中心
通讯作者Chen, Shaojie
作者单位1.State Key Lab Geoinformat Engn, Xian, Shaanxi, Peoples R China
2.Zhengzhou Inst Surveying & Mapping, Zhengzhou, Henan, Peoples R China
3.Chinese Acad Sci, Natl Time Serv Ctr, Xian, Shaanxi, Peoples R China
推荐引用方式
GB/T 7714		 Zhan, Yinhu,Chen, Shaojie,He, Donghan. High-Precision Heading Determination Based on the Sun for Mars Rover[J]. ADVANCES IN ASTRONOMY,2018:14.
APA Zhan, Yinhu,Chen, Shaojie,&He, Donghan.(2018).High-Precision Heading Determination Based on the Sun for Mars Rover.ADVANCES IN ASTRONOMY,14.
MLA Zhan, Yinhu,et al."High-Precision Heading Determination Based on the Sun for Mars Rover".ADVANCES IN ASTRONOMY (2018):14.

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来源：国家授时中心

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