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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    Title :

    Sun sensing for planetary rover navigation


    Contributors:


    Publication date :

    2009-03-01


    Size :

    7104960 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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