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Opportunity Route Map
RoverDriver
post Yesterday, 09:51 PM
Post #3526


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QUOTE (Phil Stooke @ Jun 27 2017, 02:25 PM) *
OK, big new map for the walk-about. I have had trouble reconciling sources of data, but I think this is correct. The drive on sol 4766 was supposed to be 18 m, but was stopped by a failure of visual odometry after 14 m. However, the mobility map shows only about a 5 to 6 m drive. My impression is that the extra distance was taken up with back and forth movements as the visodom software tried to find something to focus on. Information here comes from Larry Crumpler's latest field report (Thanks Larry, much appreciated) and the images themselves. I hope to add more reprojected panoramas to the background as they become available.

Phil


The Sol 4766 drive had a weird VO failure. We were forced to point the camera at the tracks since there's nothing else nearby to track. At the time of the drive, it meant the shadow of the rover was the most prominent visible feature which VO diligently tracked. This resulted in the vehicle thinking there ws no progress and this stopped the drive after about 14 meters but the incorrect VO updates poked the vehicle position to only about 6 meters. So, the true vehicle motion was indeed 14 meters. This is not really a mistake, it is just a combination of limitations we have to deal with (lack of flash file system and low power levels pushing the drive late in the day plus the lack of features). Sometimes we just run out of sugar to put in the lemonade, so to speak.

Paolo


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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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