2P2-A24 往復伝搬遅延時間測定による小天体探査ローバ位置同定法の精度解析(宇宙ロボティクス・メカトロニクス)

概要

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Investigations into small planetary bodies are becoming more attractive, and some missions to small bodies have already been sent. As such bodies have numerous geographical features, the next requirement is direct surface investigations by rovers. Localization of rovers is required to navigate them to specific points. However, conventional methods of localization are not adequate on small bodies because of the small body's irregular shape and small mass. We proposed an efficient method of localizing rovers on small bodies. It uses two-way range measurements between the rover and mother spacecraft. The measurements are conducted repeatedly. This method can be used over the whole surface of the investigating body, and it only needs one spacecraft. Numerical simulations demonstrated the effectiveness of the proposed method assuming an Itokawa-sized-asteroid, whose maximum diameter is 600[m]. In this paper, the sensitivity direction is analyzed, which indicates the preferable orbit of spacecraft and the sufficient number of measurement.
2008-06-06