NDLI: Autonomous deployment of a Self-Calibrating Pseudolite Array for Mars rover navigation

Content Provider	IEEE Xplore Digital Library
Author	Matsuoka, M. Rock, S.M. Bualat, M.G.
Copyright Year	2004
Description	Author affiliation: Aerosp. Robotics Lab., Stanford Univ., CA, USA (Matsuoka, M.; Rock, S.M.)
Abstract	A "Self-Calibrating Pseudolite Array (SCPA)" is a self-deployable GPS pseudolite-based local-area navigation system applicable to future-generation Mars rovers. By utilizing bidirectional GPS transceivers (incorporating separate GPS pseudolites and GPS receivers) deployed in a ground-based array, the SCPA can provide all the benefits of satellite-based Carrier-phase Differential GPS (CDGPS), such as drift-free, centimeter-level, and three-dimensional positioning, without requiring a satellite constellation on Mars. Relative geometry change by moving the rover enables the SCPA to self-calibrate both the array locations and the rover trajectory to centimeter-level accuracy. This self-calibration capability of the SCPA overcomes the difficulty of autonomous robotic deployment of the pseudolite-based navigation system on Mars, eliminating the need for accurate a priori position information or precise placement of the array. This paper presents new results from the latest field trial of the SCPA conducted in February 2004 using the K9 Mars rover platform operated in the Marscape at NASA Ames Research Center. This field trial demonstrates the entire scenario of the SCPA operation, starting with autonomous array deployment, followed by array self-calibration and centimeter-level navigation for a long traverse. The results show that a 0.2% drift rate is achieved by the SCPA navigation (0.4 meter of the final positioning error after a 174.7 meter traverse).
Sponsorship	IEEE Aerospace & Electron. Syst. Soc
Starting Page	733
Ending Page	739
File Size	671663
Page Count	7
File Format	PDF
ISBN	0780384164
DOI	10.1109/PLANS.2004.1309067
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mars Global Positioning System Satellite navigation systems NASA Laboratories Transceivers Satellite constellations Robot sensing systems Computer vision Computational geometry
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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