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>Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering
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Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering
This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level.
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机译：本文提供了融合相对和绝对微机电系统（MEMS）导航传感器（适用于微型行星漫游器）的算法，以提供更准确的导航信息估计，特别是姿态和位置。行星漫游车的速度极慢（〜1 cm / s），并且缺少常规的导航传感器/系统，因此地面导航的一般方法可能不适用于这些应用。尽管可以用类似于地面机器人的方式来跟踪相对姿态和位置，但是与地面应用相比，在诸如月亮或火星的遥远天体上很难获得绝对导航信息。在这项研究中，开发了两种绝对姿态估计算法，并比较了它们的准确性和鲁棒性。在非线性滤波器的框架中，将估计的绝对姿态与相对姿态传感器融合在一起。比较了非线性扩展卡尔曼滤波器（EKF）和无味卡尔曼滤波器（UKF），以仅使用板载低成本MEMS传感器在此非线性估计问题中追求更好的精度和可靠性。实验结果证实了所提出的算法和传感器套件对于低成本和低重量的微型行星漫游者的可行性。事实证明，集成相对和绝对导航MEMS传感器可将导航误差降低到所需水平。
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