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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    Title :

    Extended Navigation Capabilities for a Future Mars Science Helicopter Concept


    Contributors:


    Publication date :

    2020-03-01


    Size :

    9840378 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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