DocumentCode
1264076
Title
Sun Sensor Navigation for Planetary Rovers: Theory and Field Testing
Author
Furgale, Paul ; Enright, John ; Barfoot, Timothy
Author_Institution
Inst. for Aerosp. Studies, Univ. of Toronto, Toronto, ON, Canada
Volume
47
Issue
3
fYear
2011
fDate
7/1/2011 12:00:00 AM
Firstpage
1631
Lastpage
1647
Abstract
In this paper, we present an experimental study of sun sensing as a rover navigational aid. Algorithms are outlined to determine rover heading in an absolute reference frame. The sensor suite consists of a sun sensor, inclinometer, and clock (as well as ephemeris data). We describe a technique to determine ground-truth orientation in the field (without using a compass) and present a large number of experimental results (both in Toronto and on Devon Island) showing our ability to determine absolute rover heading to within a few degrees.
Keywords
navigation; planetary rovers; sensors; absolute reference frame; clock; ground-truth orientation; inclinometer; planetary rovers; rover navigational aid; sun sensor navigation; Accuracy; Cameras; Extraterrestrial measurements; Gravity; Navigation; Sun; Testing;
fLanguage
English
Journal_Title
Aerospace and Electronic Systems, IEEE Transactions on
Publisher
ieee
ISSN
0018-9251
Type
jour
DOI
10.1109/TAES.2011.5937255
Filename
5937255
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