Engineering Papers⌕ Search
Home/Archive/NASA NTRS

NASA NTRS · 20060034843

Mars Rover Navigation Results Using Sun Sensor Heading Estimation

Volpe, R.
View original source ↗Export metadata ↓

Abstract

This paper describes navigation results obtained in the field tests and shows that accurated heading estimation provides a significant improvement over previous results.

Explore related subjects

roversnavigation robot Mars Sojourner Pathfinder sensor-based control robotics mars

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Volpe, R.. 1998-05-10. Mars Rover Navigation Results Using Sun Sensor Heading Estimation. https://ntrs.nasa.gov/citations/20060034843

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related reports

NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗
NASA NTRS2012

The Effects of Clock Drift on the Mars Exploration Rovers

All clocks drift by some amount, and the mission clock on the Mars Exploration Rovers (MER) is no exception. The mission clock on both MER rovers drifted significantly since the rovers were launched, and it is still drifting on the Opportunity rover. The drift rate is temperature dependent. Clock drift causes problems for onboard behaviors and spacecraft operations, such as attitude estimation, driving, operation of the robotic arm, pointing for imaging, power analysis, and telecom analysis. The MER operations team has techniques to deal with some of these problems. There are a few techniques for reducing and eliminating the clock drift, but each has drawbacks. This paper presents an explanation of what is meant by clock drift on the rovers, its relationship to temperature, how we measure it, what problems it causes, how we deal with those problems, and techniques for reducing the drift.

rovers↗