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首页> 外文期刊>Journal of geophysical research. Planets >Characterization of traverse slippage experienced by Spirit rover on Husband Hill at Gusev crater
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Characterization of traverse slippage experienced by Spirit rover on Husband Hill at Gusev crater

机译:描述的遍历滑移有经验由精神漫游者在古谢夫陨石坑丈夫山上

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摘要

Spirit rover experienced significant slips traversing Husband Hill. This paper analyzes the slippage Spirit experienced from Sol 154 to Sol 737. Slippage with respect to terrain type and slope is computed using data downlinked from the rover, rover position, and orientation estimations from visual odometry (VO) and photogrammetry based bundle adjustment (BA) method. Accumulated slippage reached a maximum of 83.86 m on Sol 648. However, as Spirit descended into the Inner Basin, the direction of slippage reversed, and accumulated slippage approached zero by the end of the entire traverse. Eight local regions with significant slips and nineteen traverse segments have been analyzed. Slippage was found to be highly correlated to slope direction and magnitude; the reverse of slope directions in the ascending and descending portions of the traverse proves to be the main contributor to the observed cancellation of slippage. While the horizontal component of the slippage almost canceled out, the difference in elevation continually accumulated, mainly during the ascent. In general, long traverse segments created more slips than short ones. This is reflected in both the accumulated and individual slippages. In considering the four major Mars terrain types, Spirit performed best on bedrock, managing to drive on slopes close to 30°. Fine-grain surfaces were the most challenging; though progress was made on slopes up to 15°, slippages of over 100% (more slippage than distance traveled) occurred for short segments. The results of this work can be incorporate into a traverse planning framework in which rover slippage is minimized. Results can be employed in landed planetary missions for precision navigation to avoid potentially dangerous regions by considering expected slippage.
机译:精神漫游者经历了显著的滑落遍历丈夫山。滑移精神经历了从154年索尔溶胶737. 斜率是使用下行数据的计算探测器,探测器的位置和方向从视觉里程计(VO)和估计基于摄影测量的束调整(BA)方法。83.86在648年索尔。到盆地内部,滑动的方向逆转,累积滑移0年底整个导线。当地重要的地区和19遍历部分进行了分析。被发现边坡高度相关吗方向和大小;升序和降序的方向部分的导线是主要的原因取消滑动。滑移几乎抵消了,的差异海拔不断积累,主要是在提升。创造了更多比短的。反映在积累和个人控制不力。地形类型、精神基石表现最好,管理坡地开车接近30°。精密表面是最具挑战性的;尽管进展15°倾斜,控制不力的滑移(超过100%以上距离)发生短段。这项工作可以合并成的结果一个遍历罗孚的规划框架滑移是最小化。精密行星着陆任务导航,以避免潜在的危险地区通过考虑预期的下滑。

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