Attitude determination of planetary exploration rovers using solar panels characteristics and accelerometer |
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| Institution: | 1. School of Science for Open and Environment Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan;2. Department of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan;3. JST, CREST, 4-1-8 Honcho, Kawaguchi, Saitama, 332-0012, Japan;1. LAboratoire de Mathématiques, Physique et Systèmes (LAMPS), Université de Perpignan, 52 Avenue Paul Alduy, 66860 Perpignan, France;2. Faculty of Mathematics and Computer Science, Institute of Computer Science, Jagiellonian University, ul. Łojasiewicza 6, 30348 Krakow, Poland;1. CNES, 18 Avenue Edouard Belin, 31041 Toulouse, France;2. IPAG, 414 rue de la Piscine, 38400 St Martin d’Hères, France;3. OHB Sweden, Solna Strandvaeg 86, 17122 Solna, Sweden;4. IAS, University Paris Sud, Orsay, France;5. DTU Space, Elektrovej, Building 327, DK-2800 Lyngby, Denmark;1. College of Life Science, Northeast Forestry University, Harbin 150040, China;2. Department of Food Science, Agricultural and Animal Husbandry of Tibet University, Linzhi 860000, China;3. Department of Horticulture, Agricultural and Animal Husbandry of Tibet University, Linzhi 860000, China |
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| Abstract: | In this study, we propose a new attitude determination system, which we call Irradiance-based Attitude Determination (IRAD). IRAD employs the characteristics and geometry of solar panels. First, the sun vector is estimated using data from solar panels including current, voltage, temperature, and the normal vectors of each solar panel. Because these values are obtained using internal sensors, it is easy for rovers to provide redundancy for IRAD. The normal vectors are used to apply to various shapes of rovers. Second, using the gravity vector obtained from an accelerometer, the attitude of a rover is estimated using a three-axis attitude determination method. The effectiveness of IRAD is verified through numerical simulations and experiments that show IRAD can estimate all the attitude angles (roll, pitch, and yaw) within a few degrees of accuracy, which is adequate for planetary explorations. |
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| Keywords: | Planetary rover Navigation Attitude determination Solar panel |
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