Development and Testing of an Integrated Navigation Sensor for Planetary Hopper Navigation
نویسندگان
چکیده
In recent years, considerable attention has been paid to planetary hoppers for their potential to overcome the limitations on landing precision and mobility facing current planetary surface exploration technologies. This paper describes the development of a unified vision and inertial navigation system for propulsive planetary hoppers and provides demonstration of this technology. A sensor testbed, including a stereo vision package and inertial measurement unit, was developed to act as a proof-ofconcept for this navigation system architecture. The system is shown to be capable of outputting an accurate navigation state estimate for motions and trajectories similar to those of planetary hoppers.
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