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Cooperative Radio Navigation for Robotic Exploration: Evaluation of a Space-Analogue Mission

Pöhlmann, Robert and Staudinger, Emanuel and Zhang, Siwei and Broghammer, Fabio and Dammann, Armin and Hoeher, Peter A. (2023) Cooperative Radio Navigation for Robotic Exploration: Evaluation of a Space-Analogue Mission. In: 2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023. IEEE/ION Position, Location and Navigation Symposium (PLANS), 24-27 April 2023, Monterey, USA. doi: 10.1109/PLANS53410.2023.10140026. ISBN 978-166541772-3. ISSN 2153-3598.

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Autonomous robotic systems will play an important role in future planetary exploration missions. To allow autonomous operation of robots, reliable navigation is vital. Such a navigation solution is provided by cooperative radio navigation, where radio signals are exchanged among the robots. Based on the signal round-trip time (RTT) and direction-of-arrival (DoA), the robots' positions and orientations are estimated. Cooperative navigation has been well studied theoretically, but experiments mainly focused on indoor scenarios and other applications. For the first time, we have demonstrated cooperative radio navigation within a space-analogue exploration mission with two robotic rovers. The mission took place on the volcano Mt Etna, Sicily, Italy. During the first part of the mission, simultaneous localization and calibration (SLAC) is performed to improve the accuracy of RTT and DoA estimates by reducing the bias. Then, the rovers travel to a distant area of interest. Ultimately, one rover travels so far that it is connected to the network only via another rover. We find that even in this challenging single-link scenario, robust cooperative navigation is achieved. When the rovers are not further than 60 m away from the lander, their position root-mean-square errors (RMSEs) are 0.3m to 0.9m. Even for the most challenging mission phase, when the rovers are 100 m to 160 m away from the lander with single-link localization, the position RMSEs are 1.7m to 2.6m. The orientation RMSEs of the rovers lie between 2.4° to 6.1°. Thus, with this space-analogue mission, we show that cooperative radio navigation for planetary exploration is robust and accurate.

Item URL in elib:https://elib.dlr.de/194306/
Document Type:Conference or Workshop Item (Speech)
Title:Cooperative Radio Navigation for Robotic Exploration: Evaluation of a Space-Analogue Mission
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
Broghammer, FabioUNSPECIFIEDhttps://orcid.org/0000-0002-0613-8348UNSPECIFIED
Dammann, ArminUNSPECIFIEDhttps://orcid.org/0000-0002-7112-1833UNSPECIFIED
Hoeher, Peter A.University of Kiel, Germanyhttps://orcid.org/0000-0003-3475-1710UNSPECIFIED
Date:April 2023
Journal or Publication Title:2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Cooperative localization, ranging, direction-ofarrival, software-defined radio, simultaneous localization and calibration, SLAC
Event Title:IEEE/ION Position, Location and Navigation Symposium (PLANS)
Event Location:Monterey, USA
Event Type:international Conference
Event Dates:24-27 April 2023
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:06 Jul 2023 18:40
Last Modified:10 Jul 2023 13:15

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