This chapter focuses on the planetary surface navigation has been the exclusive domain of wheeled rover. It discusses the different constraints imposed on a navigation system, in particular, the effects of communication delays, the environment (radiation, thermal, lighting, dust, gravity, magnetic field), the appearance of the sky, and the existence of support assets. The chapter describes and compares the navigation systems on past and current flight rovers: Lunokhod I and II, the Apollo Lunar Roving Vehicle (LRV), Sojourner, the Mars Exploration Rovers (MERs), Curiosity, and Yutu. It describes the Curiosity navigation system in the context of the MER system. The chapter discusses design decisions that a rover navigation system design team is likely to consider given the imposed requirements on the system. This includes the selection of sensors, software algorithms, computational platform, hardware design philosophy, operator control strategy, communication strategy, location of processing (i.e., on or off the rover), and level of robustness or redundancy.
Surface Navigation
Contemporary Planetary Robotics ; 181-254
2016-09-06
74 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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