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Advances in Aircraft and Spacecraft Science Volume 1, Number 4, October 2014 , pages 455-469 DOI: https://doi.org/10.12989/aas.2014.1.4.455 |
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Multi-information fusion based localization algorithm for Mars rover |
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Xiuqiang Jiang, Shuang Li, Ting Tao and Bingheng Wang
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| Abstract | ||
| High-precision autonomous localization technique is essential for future Mars rovers. This paper addresses an innovative integrated localization algorithm using a multiple information fusion approach. Firstly, the output of IMU is employed to construct the two-dimensional (2-D) dynamics equation of Mars rover. Secondly, radio beacon measurement and terrain image matching are considered as external measurements and included into the navigation filter to correct the inertial basis and drift. Then, extended Kalman filtering (EKF) algorithm is designed to estimate the position state of Mars rovers and suppress the measurement noise. Finally, the localization algorithm proposed in this paper is validated by computer simulation with different parameter sets. | ||
| Key Words | ||
| Mars rover; localization; multi-information fusion; radio measurement; terrain image matching; extended Kalman filter | ||
| Address | ||
| Xiuqiang Jiang, Shuang Li, Ting Tao and Bingheng Wang : College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China | ||
