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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Steiner, T.J. Rasmussen, S.A. DeBitetto, P.A. Cohanim, B.E. Hoffman, J.A. |
| Copyright Year | 2012 |
| Description | Author affiliation: Draper Laboratory, 555 Technology Square, Cambridge, MA 02139 (Rasmussen, S.A.; DeBitetto, P.A.; Cohanim, B.E.) || Massachusetts Institute of Technology, 77 Massachusetts Ave, Cambridge, MA 02139 (Steiner, T.J.; Hoffman, J.A.) |
| Abstract | Hopping vehicles provide advantages over traditional surface exploration vehicles, such as wheeled rovers, by enabling in-situ measurements in otherwise inaccessible terrain. However, significant development over previously demonstrated vehicle navigation technologies is required to overcome the inherent challenges involved in navigating a hopping vehicle, especially in adverse terrain. This paper describes inertial and relative planetary surface navigation techniques for a propulsive planetary hopper. Draper & MIT have been working on an integrated solution for safe and precise landing and traversing via hopping. This modular sensor system uses inertial measurement units (IMUs) and vision-aided packages to analyze the tradeoffs associated with the fusion of inertial and relative sensor solutions, and to act as a proof-of-concept for a hopper navigation system incorporating unified inertial and terrain-relative navigation solutions. This navigation sensor is used to provide the basis for a discussion of the relative merits of inertial and vision-based navigation systems. In addition, a preliminary testing plan for advancing this system to mission-ready status is proposed. |
| Starting Page | 1 |
| Ending Page | 8 |
| File Size | 591613 |
| Page Count | 8 |
| File Format | |
| ISBN | 9781457705564 |
| ISSN | 1095323X |
| e-ISBN | 9781457705571 |
| DOI | 10.1109/AERO.2012.6187307 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-03-03 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Global Positioning System Trajectory Feature extraction Vehicles Cameras Testing |
| Content Type | Text |
| Resource Type | Article |
| Subject | Aerospace Engineering Space and Planetary Science |
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