Title :
Talaris hopper testbed navigation analysis
Author :
Huxel, Paul J. ; Cohanim, Babak E.
Author_Institution :
Charles Stark Draper Lab., Inc., Cambridge, MA, USA
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;
Conference_Titel :
Aerospace Conference, 2011 IEEE
Conference_Location :
Big Sky, MT
Print_ISBN :
978-1-4244-7350-2
DOI :
10.1109/AERO.2011.5747510
