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

2009 Fiscal Year Final Research Report

• 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
• 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
• [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
• [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
  • Year and Date: 20100000
• [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
  • Year and Date: 20080000
• [Presentation] MINERVA Rover in Hayabusa Mission (2008)
  • Author(s): Tetsuo YOSHIMITSU
  • Organizer: The First Meeting of the International Primitive body Exploration Working Group
  • Year and Date: 20080000
• [Presentation] Onboard Image Selection and Compression Strategy of the Asteroid Rover (2008)
  • Author(s): Tetsuo YOSHIMITSU
  • Organizer: On-Board Payload Data Compression Workshop
  • Year and Date: 20080000
• [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
  • Year and Date: 20080000
• [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
  • Year and Date: 20080000
• [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
  • Year and Date: 20080000
• [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
  • Year and Date: 20080000
• [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
  • Year and Date: 20070000
• [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
  • Year and Date: 20070000