用火箭发射UWB信标，让火星车在无卫星环境下自主定位
UWB Anchor Based Localization of a Planetary Rover
- 通过火箭发射器部署UWB锚点，自建定位坐标系
- 结合UWB测距与传统SLAM，实现复杂地形精确定位
- 适用于火星模拟环境，适合深空探测机器人研究者
在行星探索中，由于地形未知、光照恶劣且缺乏卫星导航等全局参考，自主移动机器人定位极具挑战。本文提出一种基于超宽带（UWB）技术的新型定位方法。机器人利用火箭推进发射系统在环境中部署UWB锚节点，自建参考坐标系，构建定位空间，结合UWB测量数据补充传统基于SLAM的定位技术。该系统为参与2021年ESA-ESRIC挑战赛及奥地利太空论坛（ÖWF）在亚美尼亚开展的AMADEE-24火星模拟任务而开发。
原文摘要 · Abstract (English)
Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a novel approach for robot localization based on ultra-wideband (UWB) technology. The robot sets up its own reference coordinate system by distributing UWB anchor nodes in the environment via a rocket-propelled launcher system. This allows the creation of a localization space in which UWB measurements are employed to supplement traditional SLAM-based techniques. The system was developed for our involvement in the ESA-ESRIC challenge 2021 and the AMADEE-24, an analog Mars simulation in Armenia by the Austrian Space Forum (ÖWF).
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