In this paper, we present an experimental study of sun sensing as a rover navigational aid. Algorithms are outlined to determine (i) rover heading in an absolute reference frame and (ii) absolute rover position (i.e., latitude/longitude). Our 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. We also present our preliminary results on determining absolute rover position.


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    Titel :

    Sun sensing for planetary rover navigation


    Beteiligte:
    Enright, John (Autor:in) / Furgale, Paul (Autor:in) / Barfoot, Tim (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.03.2009


    Format / Umfang :

    7104960 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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