DocumentCode
1879188
Title
Star tracking for planetary rovers
Author
Enright, John ; Barfoot, Tim ; Soto, Marcela
Author_Institution
Dept. of Aerosp. Eng., Ryerson Univ., Toronto, ON, Canada
fYear
2012
fDate
3-10 March 2012
Firstpage
1
Lastpage
13
Abstract
In this paper we consider the use of a star tracker as a navigational aid for planetary rovers. Depending on the complementary instruments available to the rover, star trackers can be used to determine topocentric orientation and possibly geocentric position as well. We present a set of closed-form solutions for several mechanizations and provide an analytical framework for instrument calibration. In field tests using a star tracker and inclinometer, the standard deviations in our estimates were routinely better than 0.02° in heading and 800 m in position.
Keywords
calibration; planetary rovers; star trackers; closed-form solutions; geocentric position; inclinometer; instrument calibration; navigational aid; planetary rovers; star tracker; star tracking; topocentric orientation; Earth; Extraterrestrial measurements; Gravity; Navigation; Sensors; Sun; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Aerospace Conference, 2012 IEEE
Conference_Location
Big Sky, MT
ISSN
1095-323X
Print_ISBN
978-1-4577-0556-4
Type
conf
DOI
10.1109/AERO.2012.6187042
Filename
6187042
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