Observability of autonomous navigation of distributed satellite system using relative position measurements

2016 ◽  
Keyword(s):  
Relative Position ◽  
Autonomous Navigation ◽  
Satellite System ◽  
Distributed Satellite

scholarly journals Performance evaluation of multi-GNSSs navigation in super synchronous transfer orbit and geostationary earth orbit

2021 ◽  
Vol 2 (1) ◽  
Author(s):  
Tao Shi ◽  
Xuebin Zhuang ◽  
Liwei Xie
Keyword(s):  
Global Navigation Satellite System ◽  
Autonomous Navigation ◽  
Satellite System ◽  
Earth Orbit ◽  
Navigation Satellite ◽  
Geostationary Earth Orbit ◽  
Beidou Navigation Satellite System ◽  
Transfer Orbit ◽  
High Orbit ◽  
Global Navigation Satellite

AbstractThe autonomous navigation of the spacecrafts in High Elliptic Orbit (HEO), Geostationary Earth Orbit (GEO) and Geostationary Transfer Orbit (GTO) based on Global Navigation Satellite System (GNSS) are considered feasible in many studies. With the completion of BeiDou Navigation Satellite System with Global Coverage (BDS-3) in 2020, there are at least 130 satellites providing Position, Navigation, and Timing (PNT) services. In this paper, considering the latest CZ-5(Y3) launch scenario of Shijian-20 GEO spacecraft via Super-Synchronous Transfer Orbit (SSTO) in December 2019, the navigation performance based on the latest BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), Galileo Navigation Satellite System (Galileo) and GLObal NAvigation Satellite System (GLONASS) satellites in 2020 is evaluated, including the number of visible satellites, carrier to noise ratio, Doppler, and Position Dilution of Precision (PDOP). The simulation results show that the GEO/Inclined Geo-Synchronous Orbit (IGSO) navigation satellites of BDS-3 can effectively increase the number of visible satellites and improve the PDOP in the whole launch process of a typical GEO spacecraft, including SSTO and GEO, especially for the GEO spacecraft on the opposite side of Asia-Pacific region. The navigation performance of high orbit spacecrafts based on multi-GNSSs can be significantly improved by the employment of BDS-3. This provides a feasible solution for autonomous navigation of various high orbit spacecrafts, such as SSTO, MEO, GEO, and even Lunar Transfer Orbit (LTO) for the lunar exploration mission.

scholarly journals Framework for Fast Experimental Testing of Autonomous Navigation Algorithms

2019 ◽  
Vol 9 (10) ◽  
pp. 1997 ◽  
Author(s):  
Miguel Á. Muñoz–Bañón ◽  
Iván del Pino ◽  
Francisco A. Candelas ◽  
Fernando Torres
Keyword(s):  
Autonomous Navigation ◽  
Mobile Robotics ◽  
Experimental Testing ◽  
Autonomous Systems ◽  
Experimental Tests ◽  
Basic Structure ◽  
Satellite System ◽  
Outdoor Environments ◽  
Global Navigation Satellite ◽  
Abstraction Levels

Research in mobile robotics requires fully operative autonomous systems to test and compare algorithms in real-world conditions. However, the implementation of such systems remains to be a highly time-consuming process. In this work, we present an robot operating system (ROS)-based navigation framework that allows the generation of new autonomous navigation applications in a fast and simple way. Our framework provides a powerful basic structure based on abstraction levels that ease the implementation of minimal solutions with all the functionalities required to implement a whole autonomous system. This approach helps to keep the focus in any sub-problem of interest (i.g. localization or control) while permitting to carry out experimental tests in the context of a complete application. To show the validity of the proposed framework we implement an autonomous navigation system for a ground robot using a localization module that fuses global navigation satellite system (GNSS) positioning and Monte Carlo localization by means of a Kalman filter. Experimental tests are performed in two different outdoor environments, over more than twenty kilometers. All the developed software is available in a GitHub repository.

scholarly journals Autonomous Navigation of a Center-Articulated and Hydrostatic Transmission Rover using a Modified Pure Pursuit Algorithm in a Cotton Field

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4412
Author(s):  
Kadeghe Fue ◽  
Wesley Porter ◽  
Edward Barnes ◽  
Changying Li ◽  
Glen Rains
Keyword(s):  
Autonomous Navigation ◽  
Low Cost ◽  
Path Following ◽  
Absolute Error ◽  
Satellite System ◽  
Measurement Unit ◽  
Cotton Field ◽  
Cotton Production ◽  
Hydrostatic Transmission ◽  
Pure Pursuit

This study proposes an algorithm that controls an autonomous, multi-purpose, center-articulated hydrostatic transmission rover to navigate along crop rows. This multi-purpose rover (MPR) is being developed to harvest undefoliated cotton to expand the harvest window to up to 50 days. The rover would harvest cotton in teams by performing several passes as the bolls become ready to harvest. We propose that a small robot could make cotton production more profitable for farmers and more accessible to owners of smaller plots of land who cannot afford large tractors and harvesting equipment. The rover was localized with a low-cost Real-Time Kinematic Global Navigation Satellite System (RTK-GNSS), encoders, and Inertial Measurement Unit (IMU)s for heading. Robot Operating System (ROS)-based software was developed to harness the sensor information, localize the rover, and execute path following controls. To test the localization and modified pure-pursuit path-following controls, first, GNSS waypoints were obtained by manually steering the rover over the rows followed by the rover autonomously driving over the rows. The results showed that the robot achieved a mean absolute error (MAE) of 0.04 m, 0.06 m, and 0.09 m for the first, second and third passes of the experiment, respectively. The robot achieved an MAE of 0.06 m. When turning at the end of the row, the MAE from the RTK-GNSS-generated path was 0.24 m. The turning errors were acceptable for the open field at the end of the row. Errors while driving down the row did damage the plants by moving close to the plants’ stems, and these errors likely would not impede operations designed for the MPR. Therefore, the designed rover and control algorithms are good and can be used for cotton harvesting operations.

Autonomous Navigation of a Mobile Robot Based on GNSS/DR Integration in Outdoor Environments

2014 ◽  
Vol 26 (2) ◽  
pp. 214-224 ◽  
Author(s):  
Taro Suzuki ◽  
◽  
Mitsunori Kitamura ◽  
Yoshiharu Amano ◽  
Nobuaki Kubo ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Autonomous Navigation ◽  
Dead Reckoning ◽  
Satellite System ◽  
Mobile Robot Navigation ◽  
Observation Data ◽  
Multipath Mitigation ◽  
Ir Camera ◽  
Outdoor Environments ◽  
Global Navigation Satellite

This paper describes the development of a mobile robot system and an outdoor navigationmethod based on global navigation satellite system (GNSS) in an autonomous mobile robot navigation challenge, called the Tsukuba Challenge, held in Tsukuba, Japan, in 2011 and 2012. The Tsukuba Challenge promotes practical technologies for autonomous mobile robots working in ordinary pedestrian environments. Many teams taking part in the Tsukuba Challenge used laser scanners to determine robot positions. GNSS was not used in localization because its positioning has multipath errors and problems in availability. We propose a technique for realizing multipath mitigation that uses an omnidirectional IR camera to exclude “invisible” satellites, i.e., those entirely obstructed by a building and whose direct waves therefore are not received. We applied GPS / dead reckoning (DR) integrated based on observation data from visible satellites determined by the IR camera. Positioning was evaluated during Tsukuba Challenge 2011 and 2012. Our robot ran the 1.4 km course autonomously and evaluation results confirmed the effectiveness of our proposed technique and the feasibility of its highly accurate positioning.

scholarly journals ИССЛЕДОВАНИЕ ПОДХОДОВ К ПОСТРОЕНИЮ ОРБИТАЛЬНОЙ ВЫЧИСЛИТЕЛЬНОЙ СЕТИ СПУТНИКОВОЙ СИСТЕМЫ ИНТЕРНЕТА ВЕЩЕЙ

2019 ◽  
pp. 138-151
Author(s):  
Михаил Ефимович Ильченко ◽  
Теодор Николаевич Нарытник ◽  
Владимир Ильич Присяжный ◽  
Сергей Владимирович Капштык ◽  
Сергей Анатольевич Матвиенко
Keyword(s):  
Internet Of Things ◽  
Computer Network ◽  
Fog Computing ◽  
Orbital Plane ◽  
Satellite System ◽  
Low Earth Orbit ◽  
The Internet ◽  
Earth Orbit ◽  
Distributed Satellite ◽  
The Internet Of Things

There are considered issues of building a Low-Earth-Orbit Satellite System designed to provide the Internet of Things services and adapted to the features of the services and systems of the Internet of Things. The considered system provides the creation of the necessary telecommunication infrastructure based on the Low-Earth-Orbit Broadband Access Satellite System and places Computational Facilities into the Low-Earth-Orbit for to ensure the processing of Internet of Things devices and systems information, and perform computations. The architecture of a “Distributed Satellite” was chosen to construct the telecommunications part of the Internets of Things Satellite System. The chosen architecture allows, on the one hand, to ensure the full functionality of complex telecommunication systems, and on the other hand, to use spacecraft of the form factor nano-satellite / cub-sat. The using of the cube-sat spacecraft for development of the satellite-based system allows to significantly reduce the cost of development of the system and the time of the system deploying. A promising direction in the development of the Internet of Things systems is the implementation of the concept of “Fog Computing” for processing Internet of Things information. To implement “Fog Computing”, it was proposed to include into the composition of each “Distributed Satellite” a separate Satellite-Computer and to build an Orbital Distributed Network based on Satellite-Computers. The issues of the inter-satellite connectivity are considered taking into account ensuring the connection between Satellites-Computers in the framework of the Orbital Distributed Computer Network using inter-satellite links between Distributed Satellites, the characteristics of the orbital construction of the Satellite System Constellation. It was proposed to create and deploy the Distributed Localized Database based on the Orbital Distributed Computer Network, for to ensure the continuous provision of Internet of Things services, taking into account the movement of spacecraft in the orbital plane and the rotation of the Earth. It was shown the direction of transmission of the operational part of a Localized Distributed Database. Proposals are made on the distribution of the excess computational load arising in certain regions of the satellite telecommunications system's service area, involving the resource of neighboring satellite computers in its orbital plane and neighboring orbital planes. An algorithm is proposed for moving the excess computational load to the polar and oceanic regions.

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