6 March 2015 Position and orientation measurement during Lunar Rover movement test
Author Affiliations +
Proceedings Volume 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation; 94461D (2015) https://doi.org/10.1117/12.2180755
Event: International Symposium on Precision Engineering Measurement and Instrumentation, 2014, Changsha/Zhangjiajie, China
Abstract
During the development of the Lunar Rover, a posture tracking measurement scheme was designed to verify its movement control ability and path planning performance. The principle is based on the indoor GPS measurement system. Four iGPS transmitters were set around the test site. By tracking the positions of four receivers that were installed on the rover, the position and orientation of the rover can be acquired in real time. The rotation matrix and translation vector from the Lunar Rover coordinate system to the test site coordinate system were calculated by using the software. The measurement precision reached 0.25mm in the range of 30m2. The real time position and posture datum of the rover was overlaid onto 3-D terrain map of the test site. The trajectory of the rover was displayed, and the time-displacement curve, time-velocity curve, time-acceleration curve were analyzed. The rover’s performances were verified.
© (2015) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Zaihua Yang, Zaihua Yang, Laiying Tang, Laiying Tang, Wangmin Yi, Wangmin Yi, Bile Wan, Bile Wan, Tao Liu, Tao Liu, } "Position and orientation measurement during Lunar Rover movement test", Proc. SPIE 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation, 94461D (6 March 2015); doi: 10.1117/12.2180755; https://doi.org/10.1117/12.2180755
PROCEEDINGS
10 PAGES


SHARE
RELATED CONTENT


Back to Top