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 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.
Planetary Navigation IMU Correction Performance
X.Sun K.Wu Y.Li K.Di
State Key Laboratory of Remote Sensing Science,Institute of Remote Sensing and Digital Earth,Chinese State Key Laboratory of Remote Sensing Science,Institute of Remote Sensing and Digital Earth,Chinese State Key Laboratory of Remote Sensing Science,Institute of Remote Sensing and Digital Earth,Chinese
国内会议
苏州
英文
239-242
2014-05-14（万方平台首次上网日期，不代表论文的发表时间）