Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms
Muhammad Ilyas1, Beomjin Hong2, Kuk Cho3
1Department of Robotics and Virtual Engineering, Korea University of Science and Technology (UST), Daejon 305-333, Korea. milyasmeo@kitech.re.kr.
Sensors (Basel, Switzerland)
|May 26, 2016
Summary
This study presents algorithms for fusing microelectromechanical systems (MEMS) navigation sensors in micro planetary rovers. Integrating relative and absolute MEMS sensors significantly reduces navigation errors for rovers on celestial bodies.
Area of Science:
- Robotics
- Aerospace Engineering
- Sensor Fusion
Background:
- Planetary rovers operate at very low speeds (~1 cm/s) and lack conventional navigation systems.
- Achieving absolute navigation on celestial bodies like the Moon or Mars is challenging compared to terrestrial applications.
- Existing terrestrial navigation methods are often unsuitable for micro planetary rovers due to their unique operating conditions.
Purpose of the Study:
- To develop and compare algorithms for fusing relative and absolute microelectromechanical systems (MEMS) navigation sensors.
- To enhance the accuracy and reliability of attitude and position estimation for micro planetary rovers.
- To investigate the effectiveness of nonlinear filters, specifically Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), for this application.
Main Methods:
- Development of two absolute attitude estimation algorithms.
- Fusion of estimated absolute attitude with relative attitude sensors using nonlinear filters (EKF and UKF).
- Utilizing low-cost, onboard MEMS sensors for navigation estimation.
Main Results:
- Experimental validation of the proposed algorithms and MEMS sensor suite.
- Demonstrated reduction of navigation errors to acceptable levels through sensor integration.
- Comparison of EKF and UKF performance in a nonlinear estimation context.
Conclusions:
- The proposed algorithms and MEMS sensor suite are viable for low-cost, low-weight micro planetary rovers.
- Integrating relative and absolute navigation MEMS sensors effectively mitigates navigation errors.
- The study confirms the potential of sensor fusion for enhancing planetary rover navigation capabilities.
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