Rover systems are currently attracting an increasing interest, both for planetary exploration and terrestrial missions. Regardless of the considered applications, avionics design and integration present some common threads, related to sensor fusion, subsystems modularity, and low cost/mass/dimensions requirements. This paper deals with a customized system based on a radio-controlled car model and equipped with an integrated GNC/communication system. This rover is being developed as a multi-purpose test bed for concepts, algorithms and/or prototype subsystems. GNC system is based on GPS/INS integration and MEMS sensors. Communication with ground station is implemented by Wi-Fi and UDP protocol. Integration of EO sensors for stereo vision is under way. Hardware and software elements of the system are described in detail, regarding both rover and ground station. Results from laboratory and open tests are reported which put into evidence real time navigation capability and communication link reliability, in terms of small and constant latency and no loss of messages.
Avionics Integration and Test for Rover Applications / F., Esposito; C., Del Vecchio Blanco; Fasano, Giancarmine. - ELETTRONICO. - (2007), pp. 1-13. (Intervento presentato al convegno XIX Congresso nazionale AIDAA tenutosi a Forlì nel Settembre 2007).
Avionics Integration and Test for Rover Applications
FASANO, GIANCARMINE
2007
Abstract
Rover systems are currently attracting an increasing interest, both for planetary exploration and terrestrial missions. Regardless of the considered applications, avionics design and integration present some common threads, related to sensor fusion, subsystems modularity, and low cost/mass/dimensions requirements. This paper deals with a customized system based on a radio-controlled car model and equipped with an integrated GNC/communication system. This rover is being developed as a multi-purpose test bed for concepts, algorithms and/or prototype subsystems. GNC system is based on GPS/INS integration and MEMS sensors. Communication with ground station is implemented by Wi-Fi and UDP protocol. Integration of EO sensors for stereo vision is under way. Hardware and software elements of the system are described in detail, regarding both rover and ground station. Results from laboratory and open tests are reported which put into evidence real time navigation capability and communication link reliability, in terms of small and constant latency and no loss of messages.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
