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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    Title :

    Sun Sensor Navigation for Planetary Rovers: Theory and Field Testing


    Contributors:
    Furgale, P. (author) / Enright, J. (author) / Barfoot, T. (author)


    Publication date :

    2011-07-01


    Size :

    3021352 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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