Radio-based localization over the surface of small solar system hodies

• Project/Area Number: 19760284
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Measurement engineering
• Research Institution: Japan Aerospace Exploration Agency
• Principal Investigator: YOSHIMITSU Tetsuo Japan Aerospace Exploration Agency, 宇宙科学研究本部, 准教授 (60332152)
• Project Period (FY): 2007 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥2,820,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥420,000); Fiscal Year 2009: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2008: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2007: ¥1,000,000 (Direct Cost: ¥1,000,000)
• Keywords: 小天体 / 移動ロボット / 自己位置同定

Research Abstract

大きさ数km以下の太陽系小天体表面での絶対自己位置同定として,小天体近傍に滞在する探査機からの電波を用いる手法の検討をシミュレーションとGPSによる模擬実験により実施した.

Research Products

• [Journal Article] 宇宙ロボットを作るための心得 (2009)
  • Author(s): 吉光徹雄
  • Journal Title: 日本ロボット学会誌 Vol,27 Pages: 514-517
  • NAID: 10024790429
• [Journal Article] 電波の伝搬遅延時間測定による小天体探査ローバの位置同定法 (2009)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫, 吉光徹雄, 中谷一郎
  • Journal Title: 日本ロボット学会誌 Vol.27 Pages: 1007-1015
  • NAID: 10026089627
• [Journal Article] 宇宙ロボットを作るための心得 (2009)
  • Author(s): 吉光徹雄
  • Journal Title: 日本ロボット学会誌 27 Pages: 514-517
  • NAID: 10024790429
  • Peer Reviewed
• [Journal Article] 電波の伝搬遅延時間測定による小天体探査ローバの位置同定法 (2009)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫, 吉光徹雄, 中谷一郎
  • Journal Title: 日本ロボット学会誌 27 Pages: 1007-1015
  • NAID: 10026089627
  • Peer Reviewed
• [Presentation] はやぶさ2に向けた小型ローバの提案 (2010)
  • Author(s): 吉光徹雄, 久保田孝, 岡田達明
  • Organizer: 第10回宇宙科学シンポジウム
  • Place of Presentation: 相模原市
  • Year and Date: 2010-01-07
• [Presentation] はやぶさ2に向けた小型ローバの提案 (2010)
  • Author(s): 吉光徹雄
  • Organizer: 第10回宇宙科学シンポジウム
• [Presentation] 電波を用いた小天体探査ローバの位置同定 (2008)
  • Author(s): 金田 さやか
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 千葉
  • Year and Date: 2008-09-14
• [Presentation] 自転運動の不確かさを考慮した伝搬遅延時間測定による位置同定 (2008)
  • Author(s): 金田さやか
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 神戸
  • Year and Date: 2008-09-10
• [Presentation] Relative Localization of a Hopping Rover on an Asteroid Surface using Optical Flow (2008)
  • Author(s): Edmond SO
  • Organizer: SICE Annual Conference 2008
  • Place of Presentation: Chofu, Japan
  • Year and Date: 2008-08-20
• [Presentation] Relative Localization of a Hopping Rover on an Asteroid Surface: Motion Estimation using Optical Flow (2008)
  • Author(s): Edmond SO
  • Organizer: 18th JAXA Workshop on Astrodynamics and FlightMechanics
  • Place of Presentation: Sagamihara, Japan
  • Year and Date: 2008-07-29
• [Presentation] Onboard Image Selection and Compression Strategy of the Asteroid Rover (2008)
  • Author(s): 吉光徹雄
  • Organizer: On-Board Payload Data Compression Workshop
  • Place of Presentation: Noordwijk, Netherlands
  • Year and Date: 2008-06-27
• [Presentation] Proposal of Micro Rovers on Small Solar System Bodies (2008)
  • Author(s): 吉光 徹雄
  • Organizer: The First Meeting of the International Primitive body EScploration Working Group
  • Place of Presentation: Okinawa,Japan
  • Year and Date: 2008-01-14
• [Presentation] MINERVA Rover in Hayabusa Mission (2008)
  • Author(s): 吉光 徹雄
  • Organizer: The First Meeting of the International Primitive body Exploration Wbrkmg Group
  • Place of Presentation: Okinawa,Japan
  • Year and Date: 2008-01-14
• [Presentation] Proposal of Micro Rovers on Small Solar System Bodies (2008)
  • Author(s): Tetsuo YOSHIMITSU
  • Organizer: The First Meeting of the Interna- tional Primitive body Exploration Working Group
• [Presentation] MINERVA Rover in Hayabusa Mission (2008)
  • Author(s): Tetsuo YOSHIMITSU
  • Organizer: The First Meeting of the International Primitive body Exploration Working Group
• [Presentation] Onboard Image Selection and Compression Strategy of the Asteroid Rover (2008)
  • Author(s): Tetsuo YOSHIMITSU
  • Organizer: On-Board Payload Data Compression Workshop
• [Presentation] 自転運動の不確かさを考慮した伝搬遅延時間測定による位置同定 (2008)
  • Author(s): 金田さやか, 吉光徹雄
  • Organizer: 第26回日本ロボット学会学術講演会
• [Presentation] Rela- tive Localization of a Hopping Rover on an Asteroid Surface using Optical Flow (2008)
  • Author(s): Edmond So, Tetsuo Yoshimitsu
  • Organizer: SICE Annual Conference
• [Presentation] Relative Localization of a Hopping Rover on an Asteroid Surface: Motion Estimation using Optical Flow (2008)
  • Author(s): Edmond So, Tetsuo Yoshimitsu
  • Organizer: 18th JAXA Workshop on Astrodynamics and FlightMe- chanics
• [Presentation] 小天体探査ローバにおける自律データ圧縮 (2008)
  • Author(s): 吉光徹雄
  • Organizer: 第52回宇宙科学技術連合講演会
• [Presentation] Orbital Geometry of Localization System around Small Planetary Bodies (2007)
  • Author(s): 吉光 徹雄
  • Organizer: Workshop for Space, Aeronautical and Navigational Electronics 2007
  • Place of Presentation: Perth,Australia
  • Year and Date: 2007-04-16
• [Presentation] Orbital Geom- etry of Localization System around Small Planetary Bodies (2007)
  • Author(s): Tetsuo YOSHIMITSU
  • Organizer: Workshop for Space Aeronautical and Navigational Electron- ics
• [Presentation] 電波を用いた小天体探査ローバの位置同定 (2007)
  • Author(s): 金田さやか, 吉光徹雄
  • Organizer: 第25回日本ロボット学会学術講演会