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Simultaneous Localization and Calibration for Radio Navigation on the Moon: Results from an Analogue Mission

Pöhlmann, Robert and Staudinger, Emanuel and Zhang, Siwei and Dammann, Armin (2022) Simultaneous Localization and Calibration for Radio Navigation on the Moon: Results from an Analogue Mission. In: 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022. ION GNSS+ 2022, 2022-09-19 - 2022-09-23, Denver, US. doi: 10.33012/2022.18557. ISBN 978-171387136-1.

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Abstract

Autonomous robotic system will play a crucial role in future exploration missions to Mars or the Moon. Autonomous operation requires reliable navigation and communication. While a satellite communication and navigation system for the Moon is planned, only few satellites are foreseen. Accuracy and availability can be increased by a local radio system for communication and cooperative navigation. Based on the signal round-trip time (RTT) and direction-of-arrival (DoA), positions and orientations of the robots are estimated. Accurate distance estimation by the RTT requires calibrated transceiver and antenna group delays, and accurate DoA estimation requires antenna calibration. Usually, these calibrations are performed once before the system becomes operational. However, calibration parameters can change, for instance due to varying temperature of RF components or reconfigurable antenna surroundings. Thus, we propose to estimate antenna responses and direction-dependent ranging biases simultaneously with positions and orientations by simultaneous localization and calibration (SLAC). In this paper, we derive a SLAC algorithm, which is suitable for arbitrary antenna types. The algorithm is then evaluated with measurement data obtained in a Moon-analogue mission with robotic rovers that took place on the volcano Mt Etna, Sicily. We show that by SLAC, the position error of the robots is reduced by more than a factor of two.

Item URL in elib:https://elib.dlr.de/188065/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Localization and Calibration for Radio Navigation on the Moon: Results from an Analogue Mission
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pöhlmann, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-7362-9406UNSPECIFIED
Staudinger, EmanuelUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Zhang, SiweiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Dammann, ArminUNSPECIFIEDhttps://orcid.org/0000-0002-7112-1833UNSPECIFIED
Date:September 2022
Journal or Publication Title:35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.33012/2022.18557
ISBN:978-171387136-1
Status:Published
Keywords:angle-of-arrival, antenna array, antenna response, array signal processing, direction-of-arrival, multi-mode antenna, round-trip time, SLAC
Event Title:ION GNSS+ 2022
Event Location:Denver, US
Event Type:international Conference
Event Start Date:19 September 2022
Event End Date:23 September 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - Swarm navigation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Institute of Communication and Navigation
Deposited By: Pöhlmann, Robert
Deposited On:27 Sep 2022 15:15
Last Modified:24 Apr 2024 20:49

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