E1 太陽光捕捉機構を用いた移動体用火星測位システムの試作研究(宇宙システム)

概要

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In this report, mars positioning system for mars explorer is described to support autonomous action in mars. The authors propose mars positioning system using the function of sun tracking mechanism and calculation method introduced from sun trajectory. To track the sun trajectory, the gimbal mechanism of two DOF with camera device is provided. And mars location data; latitude and longitude are calculated by sun trajectory measured by camera images. In this report, two method for sun tracking are proposed, one is that sun tracking only camera image correction on base no movement, the other is only kinematics control to adapt base perturbation with body moving. To verify the effectiveness of proposed positioning system by sun tracking, substitute test is executed on earth. At the result, in case of only came device tracking test is available for base no movement.
一般社団法人日本機械学会の論文
2012-01-26