Radio wave based localization of a rover for a small planetary body

  • Authors:

  • Sayaka Kanata;Hiroaki Nakanishi;Tetsuo Sawaragi;Tetsuo Yoshimitsu;Ichiro Nakatani

  • Affiliations:

  • Kyoto University, Kyoto, Japan;Kyoto University, Kyoto, Japan;Kyoto University, Kyoto, Japan;Japan Aerospace Exploration Agency (JAXA), Kanagawa, Japan;Japan Aerospace Exploration Agency (JAXA), Kanagawa, Japan

  • Venue:
  • MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
  • Year:
  • 2008

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Abstract

Investigation of small planetary bodies is now attracted and some missions on asteroids and comets have been realized. Such bodies are full of geographical features that next demand would be direct surface investigation by a rover. In order to navigate the rover to the specific points, the localization of the rover is required. However, conventional localization method is not adequate on small bodies whose size is less than 1[km]. One of the conventional methods, localization by camera images obtained on the rover needs a map made by a mother spacecraft. The resolution of the map is not enough for the rover's local view. Another method, localization by observing the movements of stars and the sun has little accuracy. Global positioning system (GPS) is not practical for small planetary bodies because it needs several orbiters. In this paper, we propose a reasonable method which localizes the rover on a small body with reasonable accuracy, with reasonable time and with reasonable resource. This method measures two way range between a rover and a mother spacecraft repeatedly. Even this method uses only one orbiter, the localization accuracy is estimated about 1[m] assuming ITOKAWA-size asteroidwhoseradiusisatmost600[m].