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Autonomous positioning system of rover on asteroid
https://jaxa.repo.nii.ac.jp/records/7582
https://jaxa.repo.nii.ac.jp/records/7582074fc87e-432a-455e-b540-869ccb1dece6
Item type | 会議発表論文 / Conference Paper(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2015-03-26 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Autonomous positioning system of rover on asteroid | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロービング車両 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 位置決め | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | カルマンフィルタ | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | バッチフィルタ | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 小惑星 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 測距 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ナビゲーション | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 位置誤差 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 観測方程式 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 自立的位置決め | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | シミュレーション | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 宇宙探査 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | roving vehicle | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | positioning | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Kalman filter | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | batch filter | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | asteroid | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | rangefinding | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | navigation | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | position error | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | observation equation | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | autonomous positioning | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | simulation | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | space exploration | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
アクセス権 | ||||||
アクセス権 | metadata only access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_14cb | |||||
著者 |
肥後, さやか
× 肥後, さやか× 吉光, 徹雄× 中谷, 一郎× Higo, Sayaka× Yoshimitsu, Tetsuo× Nakatani, Ichiro |
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著者所属 | ||||||
東京大学 | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 宇宙科学研究本部 | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 宇宙科学研究本部 | ||||||
著者所属(英) | ||||||
en | ||||||
University of Tokyo | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space and Astronautical Science | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space and Astronautical Science | ||||||
出版者 | ||||||
出版者 | 宇宙航空研究開発機構宇宙科学研究本部 | |||||
出版者(英) | ||||||
出版者 | Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS) | |||||
書誌情報 |
第15回アストロダイナミクスシンポジウム講演後刷り集 2005 en : Proceedings of 15th Workshop on JAXA Astrodynamics and Flight Mechanics p. 107-112, 発行日 2006-03 |
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抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | Localization is necessary for a planetary rover. Also for a rover on a small planet including asteroids and comets, precise localization is required. But usual positioning methods are useless on a small body surface. Localization by images obtained on-board needs the map which mother spacecraft made. But the accuracy of the map is not enough for the rover's view. Localization by celestial navigation needs a reference of standard direction. The gravity direction on earth passes the center of the mass. Contrarily, the gravity direction measured on a small body surface does not always pass the center of the mass because of the irregular shape. Thus, localization by celestial navigation does not satisfy the required accuracy. The velocity of on a small body surface is so small that it is hard to use Range Rate. It is not realistic to arrange navigation spacecraft near the small body planet like GPS (Global Positioning System). Thus there has been no efficient localization method over the small body surface. In this paper, we proposed an effective localization method of rover on a small body surface. Range measurement between rover and the mother spacecraft which use range measurement between a rover and a mother spacecraft. Formalization and simulation analysis are conducted. We processed the observed data by batch filter using least squares method. For real time localization, we used Kalman filter and its simulation result showed the efficiency of the proposed method. | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0063480017 |