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Proceedings Paper

Position and orientation measurement during Lunar Rover movement test
Author(s): Zaihua Yang; Laiying Tang; Wangmin Yi; Bile Wan; Tao Liu
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Paper 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.

Paper Details

Date Published: 6 March 2015
PDF: 10 pages
Proc. SPIE 9446, Ninth International Symposium on Precision Engineering Measurement and Instrumentation, 94461D (6 March 2015); doi: 10.1117/12.2180755
Show Author Affiliations
Zaihua Yang, Beijing Institute of Spacecraft Environment Engineering (China)
Laiying Tang, Beijing Institute of Spacecraft Environment Engineering (China)
Wangmin Yi, Beijing Institute of Spacecraft Environment Engineering (China)
Bile Wan, Beijing Institute of Spacecraft Environment Engineering (China)
Tao Liu, Beijing Institute of Spacecraft Environment Engineering (China)


Published in SPIE Proceedings Vol. 9446:
Ninth International Symposium on Precision Engineering Measurement and Instrumentation
Junning Cui; Jiubin Tan; Xianfang Wen, Editor(s)

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