Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-4, 239-242, 2014
https://doi.org/10.5194/isprsarchives-XL-4-239-2014
© Author(s) 2014. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
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 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.
Conference paper (PDF, 749 KB)


Citation: Sun, X., Wu, K., Li, Y., and Di, K.: A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-4, 239-242, https://doi.org/10.5194/isprsarchives-XL-4-239-2014, 2014.

BibTeX EndNote Reference Manager XML