Tasks envisioned for future generation Mars rovers - sample collection, area survey, resource mining, habitat construction, etc. - will require greatly enhanced navigational capabilities over those possessed by the Mars Sojourner rover. Many of these tasks will involve cooperative efforts by multiple rovers and other agents, adding further requirements both for accuracy and commonality between users. This paper presents a new navigation system a "Self-Calibrating Pseudolite Array" (SCPA) that can provide centimeter-level, drift-free localization to multiple rovers within a local area by utilizing GPS-based transceivers deployed in a ground-based array. Such a system of localized beacons can replace or augment a system based on orbiting satellite transmitters, and is capable of fully autonomous operations and calibration. This paper describes the prototype SCPA developed at Stanford to demonstrate these capabilities and then presents results from a set of field trials performed at NASA Ames Research Center. These experiments, which utilize the K9 Mars rover research platform, validate both the navigation and self-calibration capabilities of the system. By carrying an on-board GPS transceiver, K9 was successfully able to calibrate the system using no a priori position information and localized the pseudolite beacons to under 5 cm RMS.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Mars navigation system utilizes GPS


    Contributors:
    LeMaster, E.A. (author) / Matsuoka, M. (author) / Rock, S.M. (author)


    Publication date :

    2003-04-01


    Size :

    691529 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Mars Navigation System Utilizes GPS

    LeMaster, E.A. | Online Contents | 2003


    Milwaukee utilizes teletype

    Engineering Index Backfile | 1939


    New railway utilizes salvage

    Engineering Index Backfile | 1943


    Hybrid power generation system that utilizes mobility

    SUN SANG KYU | European Patent Office | 2020

    Free access

    VEHICULAR VISION SYSTEM THAT UTILIZES TRAILER CAMERA

    LU YUESHENG / KORAVADI KRISHNA / VAID VIVEK et al. | European Patent Office | 2022

    Free access