Title :
Rover odometry aided by a star tracker
Author :
Gammell, Jonathan D. ; Chi Hay Tong ; Berczi, P. ; Anderson, S. ; Barfoot, Timothy D. ; Enright, J.
Author_Institution :
Inst. for Aerosp. Studies, Univ. of Toronto, Toronto, ON, Canada
Abstract :
This paper develops a practical framework for estimating rover position in full-dark conditions by correcting relative odometric estimates with periodic, absolute-attitude measurements from a star tracker. The framework is validated using just under 2.5 kilometres of field data gathered at the University of Toronto´s Koffler Scientific Reserve at Jokers Hill (KSR) comprised of both wheel odometry and lidar-based Visual Odometry (VO). It is shown that for the wheel odometry solution, the final estimate of rover position was within 21 metres of the groundtruth as calculated by a differential GPS receiver, or 0.85% of the total traverse distance. When the star tracker measurements are artificially limited to occurring approximately every 250 metres, the algorithm still performs well, giving a final position error of 75.8 metres or 3.0%. Preliminary results to replace wheel odometry with lidar-based VO for the development a full-dark visual solution are also presented. The lidar-based VO solution is shown to be capable of outperforming wheel odometry, but more work is required to develop methods to handle the variety of terrain conditions encountered.
Keywords :
Global Positioning System; attitude measurement; distance measurement; image sensors; optical radar; planetary rovers; position measurement; University of Toronto Koffler Scientific Reserve at Jokers Hill; absolute-attitude measurements; differential GPS receiver; full-dark visual solution development; lidar-based VO; lidar-based visual odometry; rover odometry; rover position estimation; star tracker; terrain conditions; wheel odometry; Atmospheric measurements; Global Positioning System; Measurement uncertainty; Position measurement; Sun; Vectors; Wheels;
Conference_Titel :
Aerospace Conference, 2013 IEEE
Conference_Location :
Big Sky, MT
Print_ISBN :
978-1-4673-1812-9
DOI :
10.1109/AERO.2013.6496953