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

Zhan Yinhu | Zendy; Zheng Yong | Zendy; Li Chonghui | Zendy; Wang Ruopu | Zendy; Zhu Yongxing | Zendy; Chen Zhanglei | Zendy

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

Author(s) -

Zhan Yinhu,

Zheng Yong,

Li Chonghui,

Wang Ruopu,

Zhu Yongxing,

Chen Zhanglei

Publication year - 2020

Publication title -

journal of field robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.152

H-Index - 96

eISSN - 1556-4967

pISSN - 1556-4959

DOI - 10.1002/rob.21944

Subject(s) - inclinometer , position (finance) , computer science , compensation (psychology) , geodesy , tilt (camera) , tilt sensor , remote sensing , simulation , engineering , geology , telecommunications , mechanical engineering , psychology , finance , optical fiber , psychoanalysis , economics

In this paper, we introduce a novel method for the high‐accuracy absolute position determination for planetary rovers using the star sensor and inclinometer. We describe the star sensor and inclinometer model and the alignment method for the two sensors. We deduce the compensation algorithm for the atmosphere refraction correction error in detail and provide the rover's position solution, which effectively eliminates the tilt correction error. The experimental site and hardware configuration are introduced, and the experimental steps for the one‐time positioning are described. Three field tests on Earth indicate that the accuracy of the one‐time positioning is higher than 40 m (1σ) using 8 star images and relative inclinometer measurements. Multiple positionings in one night can improve the accuracy to approximately 15 m.

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