The West Valley Route |
The West Valley Route |
Mar 18 2009, 12:00 PM
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#101
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Senior Member Group: Moderator Posts: 4279 Joined: 19-April 05 From: .br at .es Member No.: 253 |
Here're the latest navcam pictures taken during sol 1850: http://nasa.exploratorium.edu/mars/spirit/navcam/2009-03-18/
Spirit is no longer stuck, but I think the attempt to go on top of HP via the NE path is finished and we are going to the West Valley. A pancam mosaic of the western route is planned for tosol. |
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Apr 3 2009, 11:05 PM
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#102
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Senior Member Group: Moderator Posts: 3431 Joined: 11-August 04 From: USA Member No.: 98 |
Paolo, I always wondered, is it difficult to keep her driving straight on this kind of terrain, especially minus one working wheel? Does she tend to veer off? I mean obviously the last few drives looked very good, but now it looks like we might be getting back to some seriously challenging terrain again.
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Apr 4 2009, 05:09 PM
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#103
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Member Group: Admin Posts: 976 Joined: 29-September 06 From: Pasadena, CA - USA Member No.: 1200 |
Paolo, I always wondered, is it difficult to keep her driving straight on this kind of terrain, especially minus one working wheel? Does she tend to veer off? I mean obviously the last few drives looked very good, but now it looks like we might be getting back to some seriously challenging terrain again. It is not really difficult, now that we have a sequence already built that keeps the rover on track. The RF wheel makes the rover drift to the right. The exact amount of the drift depends on the terrain we are driving. There an instrument on board the rover, called IMU (Inertial Measurement Unit) that keeps track of the rover attitude (roll, pitch and heading). While the rover moves the IMU measures the change in heading. After a step the rover compares its own heading vs the desired direction and applies a heading correction for the next step. This driving technique works even without VO and while the sequence is not very easy to understand, it works quite fast for Martian standards, theoretically about 80m/h. From time to time we adjust the heading correction values depending on the terrain, but pretty much the sequence stays the same. Paolo -------------------- Disclaimer: all opinions, ideas and information included here are my own,and should not be intended to represent opinion or policy of my employer.
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