This paper introduces an autonomous navigation system suitable for supporting a future Mars Science Helicopter concept. This mission concept requires low-drift localization to reach science targets far apart from each other on the surface of Mars. Our modular state estimator achieves this through range, solar and Visual-Inertial Odometry (VIO). We propose a novel range update model to constrain visual-inertial scale drift in the absence of motion excitation using a single-point static laser range finder, that is designed to work over unknown terrain topography. We also develop a sun sensor measurement model to constrain VIO yaw drift. Solar VIO performance is evaluated in a simulation environment in a Monte Carlo analysis. Range-VIO is demonstrated in flight in real time on 1 core of a Qualcomm Snapdragon 820 processor, which is the successor of the NASA's Mars Helicopter flight processor.


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    Titel :

    Extended Navigation Capabilities for a Future Mars Science Helicopter Concept


    Beteiligte:
    Delaune, Jeff (Autor:in) / Brockers, Roland (Autor:in) / Bayard, David S. (Autor:in) / Dor, Harel (Autor:in) / Hewitt, Robert (Autor:in) / Sawoniewicz, Jacek (Autor:in) / Kubiak, Gerik (Autor:in) / Tzanetos, Theodore (Autor:in) / Matthies, Larry (Autor:in) / Balaram, J. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.03.2020


    Format / Umfang :

    9840378 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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