Position and orientation measurement during Lunar Rover movement test

Zaihua Yang; Laiying Tang; Wangmin Yi; Bile Wan; Tao Liu

doi:10.1117/12.2180755

6 March 2015 Position and orientation measurement during Lunar Rover movement test

Zaihua Yang, Laiying Tang, Wangmin Yi, Bile Wan, Tao Liu

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.

Citation Download Citation

Zaihua Yang, Laiying Tang, Wangmin Yi, Bile Wan, and 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); https://doi.org/10.1117/12.2180755

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
10 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Transmitters

Receivers

Global Positioning System

Signal processing

Fluctuations and noise

Calibration

Sensors

Show All Keywords

Keywords/Phrases

Search In:

Publication Years