ROVER, GO YOUR OWN WAY : SELF-CALIBRATING PSEUDOLITE ARRAY
This article describes a navigation system for Mars rovers that enables the vehicles to deploy autonomously and make sense of their landscape using self-referencing positioning systems. Developed by Stanford University Aerospace Robotics Laboratory and NASA Ames Research Center, it is called a Self-Calibrating Pseudo-Lite Array (SCPA). Instead of determining position through GPS satellite arrays, it consists of stationary GPS pseudolite transceivers in a ground- based array, which provides drift-free, centimeter-level and three- dimensional relative positioning in a local area. When paired with an obstacle-avoidance system, it could enable path planning for short and long traverses. Its locally based navigation would reduce the number of command cycles needed to drive rovers. The self-calibration feature makes unnecessary the previously required a priori survey to determine the precise location of the ground array. Detailed schematics and illustrations of field demonstration. Future research will involve multiple rovers and interactions with aerial surveying systems.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/10485104
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Supplemental Notes:
- Page range: pp 14-16, 18-20, 22
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Corporate Authors:
Advanstar Communications, Incorporated
131 West First Street
Duluth, MN United States 55802-2065 -
Authors:
- Matsuoka, Michio
- Rock, S M
- Bualat, M G
- Publication Date: 2004-6
Language
- English
Media Info
- Features: Figures; Photos;
- Pagination: 7 p.
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Serial:
- GPS World
- Volume: 15
- Issue Number: 6
- Publisher: Advanstar Communications, Incorporated
- ISSN: 1048-5104
Subject/Index Terms
- TRT Terms: Calibration; Global Positioning System; Navigation systems; Testing
- Uncontrolled Terms: Mars (Planet); Pseudolite arrays
- Subject Areas: Aviation;
Filing Info
- Accession Number: 00975453
- Record Type: Publication
- Source Agency: UC Berkeley Transportation Library
- Files: BTRIS, TRIS
- Created Date: Jul 6 2004 12:00AM