{"created":"2023-06-20T14:40:39.879719+00:00","id":7582,"links":{},"metadata":{"_buckets":{"deposit":"d2b0000b-36ed-40f9-82b4-3689b4a983b2"},"_deposit":{"created_by":1,"id":"7582","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7582"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007582","sets":["1543:1544:1558","1887:1891"]},"author_link":["40568","40565","40567","40564","40566","40569"],"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"112","bibliographicPageStart":"107","bibliographic_titles":[{"bibliographic_title":"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"},{"bibliographic_title":"Proceedings of 15th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063480017","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学"},{"subitem_text_value":"宇宙航空研究開発機構 宇宙科学研究本部"},{"subitem_text_value":"宇宙航空研究開発機構 宇宙科学研究本部"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"University of Tokyo"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"肥後, さやか"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"吉光, 徹雄"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"中谷, 一郎"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Higo, Sayaka","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Yoshimitsu, Tetsuo","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nakatani, Ichiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロービング車両","subitem_subject_scheme":"Other"},{"subitem_subject":"位置決め","subitem_subject_scheme":"Other"},{"subitem_subject":"カルマンフィルタ","subitem_subject_scheme":"Other"},{"subitem_subject":"バッチフィルタ","subitem_subject_scheme":"Other"},{"subitem_subject":"小惑星","subitem_subject_scheme":"Other"},{"subitem_subject":"測距","subitem_subject_scheme":"Other"},{"subitem_subject":"ナビゲーション","subitem_subject_scheme":"Other"},{"subitem_subject":"位置誤差","subitem_subject_scheme":"Other"},{"subitem_subject":"観測方程式","subitem_subject_scheme":"Other"},{"subitem_subject":"自立的位置決め","subitem_subject_scheme":"Other"},{"subitem_subject":"シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙探査","subitem_subject_scheme":"Other"},{"subitem_subject":"roving vehicle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"positioning","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Kalman filter","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"batch filter","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"asteroid","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"rangefinding","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"navigation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"position error","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"observation equation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"autonomous positioning","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"simulation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space exploration","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Autonomous positioning system of rover on asteroid","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Autonomous positioning system of rover on asteroid","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1558","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7582","relation_version_is_last":true,"title":["Autonomous positioning system of rover on asteroid"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:37:17.048423+00:00"}