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

doi:10.1155/2018/1493954

NTSC-IR

	High-Precision Heading Determination Based on the Sun for Mars Rover
	Zhan, Yinhu 1,2; Chen, Shaojie 2,3; He, Donghan 2
	2018
发表期刊	ADVANCES IN ASTRONOMY
ISSN	1687-7969
页码	14
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.
资助者	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
DOI	10.1155/2018/1493954
关键词[WOS]	PLANETARY ROVERS ; NAVIGATION ; SENSOR ; POSITION ; CAMERA
语种	英语
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]
资助者	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
WOS研究方向	Astronomy & Astrophysics
WOS类目	Astronomy & Astrophysics
WOS记录号	WOS:000441622400001
出版者	HINDAWI LTD
引用统计
文献类型	期刊论文
条目标识符	http://210.72.145.45/handle/361003/11622
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.