Selection of Absolute Positioning Methods for Mars Rover

Abstract

According to Mars moving detection mission, three absolute positioning methods for Mars rover are proposed:wireless TT&C, image matching, position circling. For the wireless TT&C positioning, the orbit determination is first done, then the rover position relative to the orbit is determined by wireless communicating between two detectors, at last the absolute position of the rover is calculated. For the image matching positioning, the absolute position of the rover is calculated by matching the images during the landing process to the map of the landing zone with geographic information. For the position circling, the orientation of the sun and Mars gravity is measured by sensors at discrete moments, then with these measured results and ephemeris the absolute position of the rover is calculated. The three methods are analyzed and compared, and using advice is given according to factors such as precision, constraints, etc. To get the rover absolute position rapidly and accurately, position circling acts as the primary method to get the position, wireless TT&C method verifies the position, and image matching method revises the position.

Keywords

Mars rover / absolute positioning / wireless TT&C / image matching / position circling

References

[1] 崔平远,高艾,于正湜. 火星着陆自主导航方案研究进展[J]. 深空探测学报,2014,1(1):18-27.Cui P Y,Gao A,Yu Z S. Research progress of autonomous navigation scheme for Mars landing[J]. Journal of Deep Space Exploration,2014,1(1):18-27.
[2] 邸凯昌. 勇气号和机遇号火星车定位方法评述[J]. 航天器工程,2009,18(5):1-5.Di K C. A review of spi rit and opportunity rover localization methods[J]. Space Engineering,2009,18(5):1-5.
[3] 唐歌实,曹建峰,韩松涛,等. 基于CE-3的无线电测月研究[J]. 深空探测学报,2014,1(3):236-240.Tang G S,Cao J F,Han S T,et al. Research on lunar radio measurement on Chang'e-3[J]. Journal of Deep Space Exploration,2014,1(3):236-240.
[4] 曹建峰,胡松杰,张宇,等. 嫦娥三号着陆器统计定位精度分析[J]. 飞行器测控学报,2014,33(3):244-249.Cao J F,Hu S J,Zhang Y,et al. Analysis of the accuracy Chang'e-3 of statistical positioning for lunar lander[J]. Journal of Spacecraft TT&C Technology,2014,33(3):244-249.
[5] 李雪,徐勇,王策. 利用月面链路的月球车定位体制[J]. 北京航空航天大学学报,2008,34(2):183-187.Li X,Xu Y,Wang C. Position of rover by UHF communication link on lunar surface[J]. Journal of Beijing University of Aeronautics and Astronautics,2008,34(2):183-187.
[6] 贾阳,张建利,李群智,等. 嫦娥三号巡视器遥操作系统设计与实现[J]. 中国科学:技术科学,2014,(44):470-482.Jia Y,Zhang J L,Li Q Z,et al. Design and realization for teleoperation system of the Chang'E-3 rover[J]. Sci Sin Tech,2014(44):470-482
[7] 宁晓琳,房建成. 一种基于UPF的月球车自主天文导航方法[J]. 宇航学报,2006,27(4):648-653,663.Ning X L,Fang J C. A new method of autonomous celestial navigation for lunar rover and analysis of precision[J]. Journal of Astronautics,2006,27(4):648-653,663.
[8] 李建国. 月球车位姿确定技术研究[D]. 北京:北京工业大学,2007.Li J G. Study on localization & pose determination of lunar rover[D]. Beijing:Beijing University of Technology,2007.
[9] 欧阳自远,肖福根. 火星及其环境[J]. 航天器环境工程,2012,29(6):591-601.Ouyang Z Y,Xiao F G. The Mars and its environment[J]. Spacecraft Environment engineering,2012,29(6):591-601.