Summary Draft 1 of NASA's Perseverance rover navigation systems.

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Team : Ruth and Heng Kiat:

The navigation system of NASA's Perseverance rover encompasses six instruments, namely AutoNav, Inertial Measurement Unit (IMU), Navcam, Hazcam, Ultra-High Frequency antenna, and X band antenna. Autonav is an automated driving system performing 3D mapping of upcoming terrain, hazard identification, and trajectory planning for obstacle avoidance. IMU is a system of gyroscopes and accelerometers that provides 3-axis information on the rover's position. Navcams and Hazcams are cameras that produce a 3D map displaying the immediate surroundings for detection and tracking of potential hazards as well as ensuring a safe path to navigate. The cameras can also be used to perform visual odometry by using displacement of the image features to estimate position change. The antennas are used for receiving navigational instructions from the Earth for the rover to execute them. Therefore, the instruments are essential to help the rover know its current position and determine its projected path on Mars’s surface.

Citations:

VECTORNAV(n.d.)WHAT IS AN INERTIAL MEASUREMENT UNIT? https://www.vectornav.com/resources/inertial-navigation-articles/what-is-an-inertial-measurement-unit-imu 

X band(2021,Sep11)In Wikipedia https://en.wikipedia.org/wiki/X_band 

Hazcam(2021,April21)In Wikipedia https://en.wikipedia.org/wiki/Hazcam 

Navcam(2021,june29)in Wikipedia https://en.wikipedia.org/wiki/Navcam#cite_ref-4 

National Aeronautics and Space Administration(2021, Jul 2)NASA’s Self-Driving Perseverance Mars Rover ‘Takes the Wheel’ https://www.nasa.gov/feature/jpl/nasa-s-self-driving-perseverance-mars-rover-takes-the-wheel

Business Insider(2021, Jul 4)NASA's Perseverance rover is driving itself around Mars using an enhanced auto-navigation system https://www.businessinsider.com/nasa-perseverance-rover-self-autonomous-drive-mars-autonav-system-2021-7  

NASA Jet Propulsion Laboratory(n.d.)Mars Exploration Rover Mobility and Robotic Arm Operational Performance https://robotics.jpl.nasa.gov/publications/Mark_Maimone/MobIDDPerf90sols.pdf   

National Aeronautics and Space Administration(n.d)"Nerves" for balance and position https://mars.nasa.gov/mars2020/spacecraft/rover/brains/  

National Aeronautics and Space Administration(n.d)Engineering Cameras  https://mars.nasa.gov/mars2020/spacecraft/rover/cameras/  

National Aeronautics and Space Administration(2021, Feb 15)Terrain Relative Navigation: Landing Between the Hazards https://science.nasa.gov/technology/technology-highlights/terrain-relative-navigation-landing-between-the-hazards 

IGI Global(n.d)What is Navigation System  https://www.igi-global.com/dictionary/navigation-system/19976 

National Aeronautics and Space Administration(n.d)Mars 2020 Perseverance Rover https://mars.nasa.gov/mars2020/

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