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Absolute Navigation and Positioning of Mars Rover Using Gravity-Aided Odometry

Published online by Cambridge University Press:  23 November 2017

Jiandong Liu ,
Erhu Wei ,
Shuanggen Jin  and
Jingnan Liu
Jiandong Liu
Affiliation:
(Key Laboratory of Planetary Sciences, Shanghai Astronomical Observatory, Chinese Academy of Sciences, Shanghai 200030, China) (University of Chinese Academy of Sciences, Beijing 100049, China)
Erhu Wei*
Affiliation:
(School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China) (Collaborative Innovation Center for Geospatial Technology, Wuhan 430079, China)
Shuanggen Jin
Affiliation:
(Key Laboratory of Planetary Sciences, Shanghai Astronomical Observatory, Chinese Academy of Sciences, Shanghai 200030, China) (Department of Geomatics Engineering, Bulent Ecevit University, Zonguldak 67100, Turkey)
Jingnan Liu
Affiliation:
(GNSS Research Center, Wuhan University, Wuhan 430079, China)
*
(E-mail: ehwei@sgg.whu.edu.cn)
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Abstract

Positioning and Navigation (PN) of Martian rovers still faces challenges due to limited observations. In this paper, the PN feasibilities of Mars rovers based on a Gravity-aided Odometry (GO) system are proposed and investigated in terms of numeric simulations and a case study. Statistical features of the Mars gravity field are studied to evaluate the feature diversity of the background map. The Iterative Closest Point (ICP) algorithm is introduced to match gravity measurements with the gravitational map. The trajectories of Mars Exploration Rovers (MER) and Mars Gravity Map 2011 (MGM2011) are used to complete the experiments. Several key factors of GO including odometry errors, measurement uncertainties, and grid resolution of the map are investigated to evaluate their influences on the positioning ability of the system. Simulated experiments indicate that the GO method could provide an alternative positioning solution for Martian surface rovers.

Keywords

Martian rover positioningPlanetary rover navigationIterative closest pointGravity-aided odometry
Type
Research Article
Information
The Journal of Navigation , Volume 71 , Issue 3 , May 2018 , pp. 530 - 546
Copyright
Copyright © The Royal Institute of Navigation 2017 

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