|
BEACON eSpace at Jet Propulsion Laboratory >
JPL Technical Report Server >
JPL TRS 1992+ >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/2014/39648
|
| Title: | Attitude and position estimation on the Mars Exploration Rovers |
| Authors: | Ali, Khaled S.
Vanelli, C. Anthony
Biesiadecki, Jeffrey J.
Maimone, Mark W.
Yang Cheng, A.
San Martin, Miguel
Alexander, James W. |
| Keywords: | position measurement
attitude estimation
position estimation |
| Issue Date: | 10-Oct-2005 |
| Publisher: | Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2005. |
| Citation: | IEEE Systems, Man and Cybernetics, International Conference, Hawaii, October 10-12, 2005. |
| Abstract: | NASA/JPL ’s Mars Exploration Rovers acquire their attitude upon command and autonomously propagate their attitude and position. The rovers use accelerometers and images of the sun to acquire attitude, autonomously searching the sky for the sun with a pointable camera. To propagate the attitude and position the rovers use either accelerometer and gyro readings or gyro readings and wheel odometiy, depending on the nature of the movement ground operators are commanding. Where necessary, visual odometry is performed on images to fine tune the position updates, particularly in high slip environments. The capability also exists for visual odometry attitude updates. This paper describes the techniques used by the rovers to acquire and maintain attitude and position knowledge, the accuracy which is obtainable, and lessons learned after more than one year in operation |
| URI: | http://hdl.handle.net/2014/39648 |
| Appears in Collections: | JPL TRS 1992+
|
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.
|
