A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns
In this research, we develop a Zero Velocity Update (ZUPT) based method for astronaut navigation and evaluate its performance under different locomotion patterns. In this ZUPT based dead-reckoning, the position drift of IMU is corrected using the constraint that the instantaneous velocity is zero wh...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2014-04-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-4/239/2014/isprsarchives-XL-4-239-2014.pdf |
| Summary: | In this research, we develop a Zero Velocity Update (ZUPT) based method for astronaut navigation and evaluate its performance
under different locomotion patterns. In this ZUPT based dead-reckoning, the position drift of IMU is corrected using the constraint
that the instantaneous velocity is zero when static state is automatically detected. A series of field experiments have been performed
on terrains of different slopes and hardness in an urban park and a desert under different locomotion patterns, such as walking and
hopping. The experimental results show that the positioning accuracy of the developed ZUPT based dead-reckoning is 1.5 %–2.3 %
under different locomotion patterns, demonstrating the potential of ZUPT for astronaut navigation. |
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| ISSN: | 1682-1750 2194-9034 |