In this paper, we present an experimental study of sun sensing as a rover navigational aid. Algorithms are outlined to determine rover heading in an absolute reference frame. The sensor suite consists of a sun sensor, inclinometer, and clock (as well as ephemeris data). We describe a technique to determine ground-truth orientation in the field (without using a compass) and present a large number of experimental results (both in Toronto and on Devon Island) showing our ability to determine absolute rover heading to within a few degrees.


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    Titel :

    Sun Sensor Navigation for Planetary Rovers: Theory and Field Testing


    Beteiligte:
    Furgale, P. (Autor:in) / Enright, J. (Autor:in) / Barfoot, T. (Autor:in)


    Erscheinungsdatum :

    2011-07-01


    Format / Umfang :

    3021352 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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