文章基本信息

标题：A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns
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作者：X. Sun ; K. Wu ; Y. Li 等
期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2014
卷号：XL-4
页码：239-242
DOI：10.5194/isprsarchives-XL-4-239-2014
出版社：Copernicus Publications
摘要：In this research, we develop a Zero Velocity Update (ZUPT) based method for astronaut navigation and evaluate its performance under different locomotion patterns. In this ZUPT based dead-reckoning, the position drift of IMU is corrected using the constraint that the instantaneous velocity is zero when static state is automatically detected. A series of field experiments have been performed on terrains of different slopes and hardness in an urban park and a desert under different locomotion patterns, such as walking and hopping. The experimental results show that the positioning accuracy of the developed ZUPT based dead-reckoning is 1.5 %–2.3 % under different locomotion patterns, demonstrating the potential of ZUPT for astronaut navigation
关键词：Planetary; Navigation; IMU; Correction; Performance