Lunar Rover Localization Using Craters as Landmarks
Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-...
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ftnasajpl:oai:trs.jpl.nasa.gov:2014/56004 2023-05-15T18:23:16+02:00 Lunar Rover Localization Using Craters as Landmarks Matthies, Larry Daftry, Shreyansh Tepsuporn, S. Cheng, Y. Atha, D. Swan, R. M. Ravichandar, S. Ono, M. 2022-12-06T23:04:00Z application/pdf http://hdl.handle.net/2014/56004 en_US eng Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2022 2022 IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2022 CL#22-0232 http://hdl.handle.net/2014/56004 Preprint 2022 ftnasajpl 2022-12-11T18:10:40Z Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-loop” (GITL) interaction is used to get a position update from human operators in a more global reference frame, such as a map frame defined by orbital reconnaissance imaging of a large region around the rover’s current position. For Mars rovers, this typically has involved downlinking imagery from the rover mast cameras and using interactive visualization tools on Earth to register such images to the orbital reconnaissance images. For safety purposes, rover mission operations typically specify “keep out zones”, which human operators recognize as being unsafe in the orbital images. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into a keep out zone. The allowable autonomous drive distance in this mode of operation depends on the distribution of keep out zones and the accuracy of relative navigation; in practice, drive limits of a few hundred meters between GITL cycles are to be expected. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for ... Report South pole JPL Technical Report Server South Pole |
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JPL Technical Report Server |
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English |
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Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-loop” (GITL) interaction is used to get a position update from human operators in a more global reference frame, such as a map frame defined by orbital reconnaissance imaging of a large region around the rover’s current position. For Mars rovers, this typically has involved downlinking imagery from the rover mast cameras and using interactive visualization tools on Earth to register such images to the orbital reconnaissance images. For safety purposes, rover mission operations typically specify “keep out zones”, which human operators recognize as being unsafe in the orbital images. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into a keep out zone. The allowable autonomous drive distance in this mode of operation depends on the distribution of keep out zones and the accuracy of relative navigation; in practice, drive limits of a few hundred meters between GITL cycles are to be expected. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for ... |
format |
Report |
author |
Matthies, Larry Daftry, Shreyansh Tepsuporn, S. Cheng, Y. Atha, D. Swan, R. M. Ravichandar, S. Ono, M. |
spellingShingle |
Matthies, Larry Daftry, Shreyansh Tepsuporn, S. Cheng, Y. Atha, D. Swan, R. M. Ravichandar, S. Ono, M. Lunar Rover Localization Using Craters as Landmarks |
author_facet |
Matthies, Larry Daftry, Shreyansh Tepsuporn, S. Cheng, Y. Atha, D. Swan, R. M. Ravichandar, S. Ono, M. |
author_sort |
Matthies, Larry |
title |
Lunar Rover Localization Using Craters as Landmarks |
title_short |
Lunar Rover Localization Using Craters as Landmarks |
title_full |
Lunar Rover Localization Using Craters as Landmarks |
title_fullStr |
Lunar Rover Localization Using Craters as Landmarks |
title_full_unstemmed |
Lunar Rover Localization Using Craters as Landmarks |
title_sort |
lunar rover localization using craters as landmarks |
publisher |
Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2022 |
publishDate |
2022 |
url |
http://hdl.handle.net/2014/56004 |
geographic |
South Pole |
geographic_facet |
South Pole |
genre |
South pole |
genre_facet |
South pole |
op_relation |
2022 IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2022 CL#22-0232 http://hdl.handle.net/2014/56004 |
_version_ |
1766202827826266112 |