The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Publications Copernicus
Articles | Volume XL-4
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-4, 239–242, 2014
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-4, 239–242, 2014

  23 Apr 2014

23 Apr 2014

A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns

X. Sun2,1, K. Wu1, Y. Li1,3, and K. Di1 X. Sun et al.
  • 1State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, P.O.Box 9718, Datun Road, Chaoyang District, Beijing 100101, China
  • 2Computer and Information Engineering College, Henan University, Kaifeng 475001, China
  • 3Nanchang University, Nanchang 330031, China

Keywords: Planetary, Navigation, IMU, Correction, Performance

Abstract. 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.