High-Precision Heading Determination Based on the Sun for Mars Rover
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 sig...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Advances in Astronomy |
| Online Access: | http://dx.doi.org/10.1155/2018/1493954 |
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| _version_ | 1832563318120775680 |
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| author | Yinhu Zhan Shaojie Chen Donghan He |
| author_facet | Yinhu Zhan Shaojie Chen Donghan He |
| author_sort | Yinhu Zhan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-c53829c044c648d2a04ea51898d12b09 |
| institution | Kabale University |
| issn | 1687-7969 1687-7977 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advances in Astronomy |
| spelling | doaj-art-c53829c044c648d2a04ea51898d12b092025-02-03T01:20:34ZengWileyAdvances in Astronomy1687-79691687-79772018-01-01201810.1155/2018/14939541493954High-Precision Heading Determination Based on the Sun for Mars RoverYinhu Zhan0Shaojie Chen1Donghan He2State Key Laboratory of Geo-Information Engineering, Xian, ChinaZhengzhou Institute of Surveying and Mapping, Zhengzhou, ChinaZhengzhou Institute of Surveying and Mapping, Zhengzhou, ChinaSince 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.http://dx.doi.org/10.1155/2018/1493954 |
| spellingShingle | Yinhu Zhan Shaojie Chen Donghan He High-Precision Heading Determination Based on the Sun for Mars Rover Advances in Astronomy |
| title | High-Precision Heading Determination Based on the Sun for Mars Rover |
| title_full | High-Precision Heading Determination Based on the Sun for Mars Rover |
| title_fullStr | High-Precision Heading Determination Based on the Sun for Mars Rover |
| title_full_unstemmed | High-Precision Heading Determination Based on the Sun for Mars Rover |
| title_short | High-Precision Heading Determination Based on the Sun for Mars Rover |
| title_sort | high precision heading determination based on the sun for mars rover |
| url | http://dx.doi.org/10.1155/2018/1493954 |
| work_keys_str_mv | AT yinhuzhan highprecisionheadingdeterminationbasedonthesunformarsrover AT shaojiechen highprecisionheadingdeterminationbasedonthesunformarsrover AT donghanhe highprecisionheadingdeterminationbasedonthesunformarsrover |