11/1/2023 0 Comments Nasa ingenuity mars![]() For the majority of time airborne, the downward-looking navcams takes 30 pictures a second of the Martian surface and immediately feeds them into the helicopter’s navigation system. ![]() To maintain better accuracy over time, the IMU-based estimates are nominally corrected on a regular basis, and this is where Ingenuity’s navigation camera comes in. If the navigation system relied on the IMU alone, it would not be very accurate in the long run: Errors would quickly accumulate, and the helicopter would eventually lose its way. The onboard control system reacts to the estimated motions by adjusting control inputs rapidly (at a rate of 500 times per second). By integrating this information over time, it is possible to estimate the helicopter’s position, velocity, and attitude (where it is, how fast it is moving, and how it is oriented in space). The IMU measures Ingenuity’s accelerations and rotational rates. While airborne, Ingenuity keeps track of its motion using an onboard inertial measurement unit (IMU). Ingenuity Flight Six Navcam Image: This sequence of images – taken on May 22, 2021, by the navigation camera aboard NASA’s Ingenuity Mars Helicopter – depicts the last 29 seconds of the rotorcraft’s sixth flight. Prior to landing safely, onboard sensors indicated the rotorcraft encountered roll and pitch excursions of more than 20 degrees, large control inputs, and spikes in power consumption. This behavior persisted throughout the rest of the flight. But toward the end of that leg, something happened: Ingenuity began adjusting its velocity and tilting back and forth in an oscillating pattern. Telemetry from Flight Six shows that the first 150-meter leg of the flight went off without a hitch. At that point, it was to translate 49 feet (15 meters) to the south while taking images toward the west, then fly another 164 feet (50 meters) northeast and land. Ingenuity was commanded to climb to an altitude of 33 feet (10 meters) before translating 492 feet (150 meters) to the southwest at a ground speed of 9 mph (4 meters per second). The flight was designed to expand the flight envelope and demonstrate aerial-imaging capabilities by taking stereo images of a region of interest to the west. On the 91 st Martian day, or sol, of NASA’s Mars 2020 Perseverance rover mission, the Ingenuity Mars Helicopter performed its sixth flight.
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