DocumentCode
2910668
Title
Talaris hopper testbed navigation analysis
Author
Huxel, Paul J. ; Cohanim, Babak E.
Author_Institution
Charles Stark Draper Lab., Inc., Cambridge, MA, USA
fYear
2011
fDate
5-12 March 2011
Firstpage
1
Lastpage
7
Abstract
This paper describes navigation techniques for a propulsive planetary hopper. 1,2 The Talaris hopper testbed, developed by Draper and MIT, is used for investigating guidance, navigation, and control techniques for planetary hoppers. The Talaris hopper currently employs an IMU and altimeter for navigation. Analysis and test results will be presented showing the predicted and achieved navigation performance. We will also describe navigation techniques that have been demonstrated to provide surface relative attitude updates and future methods of navigating hoppers for missions uniquely enabled by this platform.
Keywords
aerospace instrumentation; aerospace robotics; aircraft navigation; altimeters; path planning; planetary rovers; IMU; Talaris hopper testbed navigation analysis; altimeter; investigating guidance; propulsive planetary hopper; surface relative attitude updates; Accelerometers; Calibration; Equations; Navigation; Noise; Position measurement; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Aerospace Conference, 2011 IEEE
Conference_Location
Big Sky, MT
ISSN
1095-323X
Print_ISBN
978-1-4244-7350-2
Type
conf
DOI
10.1109/AERO.2011.5747510
Filename
5747510
Link To Document