The construction of the surface contour using recordings of dynamic parameters of a planetary rover

Computer Science

Scientific paper

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Dynamic Characteristics, Planetary Surfaces, Roving Vehicles, Surface Roughness, Topography, Contours, Distance Measuring Equipment, Structural Vibration, Wheels

Scientific paper

The paper examines a method of measuring surface contour at the rate of a planetary rover motion using information from its sensors of the movement of its mountings, deformation of the wheels, the traversed path, the list and the trim, and data from the surface contour distance measuring instrument. The contour measurements are made both in the vertical-longitudinal and vertical-transverse planes, so that a spatial contour measurement is obtained. The measurements are made without hinged equipment, thus improving the maneuverability of the planetary rover and the rate of measurement; the treatment of the data from the sensors is performed with the aid of an integrator and a computer.

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