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

机译：通过集成星传感器和倾斜度计的静止行星仪的高精度绝对定位

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摘要

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 (la) using 8 star images and relative inclinometer measurements. Multiple positionings in one night can improve the accuracy to approximately 15 m.
机译：在本文中，我们使用星形传感器和倾斜度仪介绍了一种新的行星沟槽的高精度绝对位置确定方法。我们描述了星传感器和倾斜计模型以及两个传感器的对准方法。我们详细推出了大气折射校正误差的补偿算法，并提供了流动站的位置解决方案，从而有效地消除了倾斜校正误差。介绍了实验部位和硬件配置，并描述了一次定位的实验步骤。地球上的三个场测试表明，使用8星图像和相对倾斜计测量的一次性定位的精度高于40米（LA）。一夜多的定位可以提高约15米的准确性。

著录项

  • 来源
    《Journal of Robotic Systems》 |2020年第6期|1063-1076|共14页
  • 作者

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

  • 作者单位

    Geospatial Information College Information Engineering University Zhengzhou China Department of Geodesy State Key Laboratory of Geo-information Engineering Xian China;

    Geospatial Information College Information Engineering University Zhengzhou China;

    Geospatial Information College Information Engineering University Zhengzhou China;

    Geospatial Information College Information Engineering University Zhengzhou China;

    Department of Geodesy State Key Laboratory of Geo-information Engineering Xian China;

    Geospatial Information College Information Engineering University Zhengzhou China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    planetary robotics; position estimation; sensors;

    机译：行星机器人;位置估计;传感器;

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