相关论文: Towards Hybrid Lunar PNT: Error Models, Lower Boun…
Recent advances with space navigation technologies developed by NASA in space-based atomic clocks and pulsar X-ray navigation combined with past successes in autonomous navigation using optical imaging, brings to the forefront the need to…
This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human…
Current space missions primarily depend on Earth-based Guidance, Navigation, and Control (GNC) systems involving human-in-the-loop operations. X-ray pulsar-based navigation offers a promising alternative by using the very precise periodic…
Global Navigation Satellite Systems (GNSS) underpin positioning, navigation, and timing (PNT), yet their low-power signals are easily blocked or disrupted, leaving gaps in PNT availability in contested environments (e.g. maritime settings)…
Recently, there has been a growing interest in the use of a SmallSat platform for the future Lunar Navigation Satellite System (LNSS) to allow for cost-effectiveness and rapid deployment. However, many design choices are yet to be finalized…
We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…
The defects of the traditional strapdown inertial navigation algorithms become well acknowledged and the corresponding enhanced algorithms have been quite recently proposed trying to mitigate both theoretical and algorithmic defects. In…
Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. This can be challenging for linear dynamic systems if the process noise or measurement errors have uncertain time correlation. In…
Accurate prediction of atmospheric optical turbulence in localized environments is essential for estimating the performance of free-space optical systems. Macro-meteorological models developed to predict turbulent effects in one environment…
The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…
Vision Based Navigation consists in utilizing cameras as precision sensors for GNC after extracting information from images. To enable the adoption of machine learning for space applications, one of obstacles is the demonstration that…
Synthetic image generation is one of the crucial input for planetary missions. It enables researchers and engineers to visualize planned planetary missions, test imaging systems and plan exploration activities in a virtual environment…
The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…
This work presents a new approach for detection and exclusion (or de-weighting) of pseudo-range measurements from the Global Navigation Satellite System (GNSS) in order to improve the accuracy of single-epoch positioning, which is an…
Phase-Based Ranging (PBR) offers several advantages for estimating distances between wirelessly connected devices, including high accuracy over large distances and the removal of the need for antenna arrays at each transceiver. This study…
While quantum accelerometers sense with extremely low drift and low bias, their practical sensing capabilities face two limitations compared with classical accelerometers: a lower sample rate due to cold atom interrogation time, and a…
In the coming smart ocean era, reliable and efficient communications are crucial for promoting a variety of maritime activities. Current maritime communication networks (MCNs) mainly rely on marine satellites and on-shore base stations…
The surge of deep-space probes makes it unsustainable to navigate them with standard radiometric tracking. Self-driving interplanetary satellites represent a solution to this problem. In this work, a full vision-based navigation algorithm…
Typical lunar landing missions involve multiple phases of braking to achieve soft-landing. The propulsion system configuration for these missions consists of throttleable engines. This configuration involves complex interconnected…
The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…