Techno Press
You logged in as Techno Press

Advances in Aircraft and Spacecraft Science
  Volume 1, Number 4, October 2014, pages 455-469

Multi-information fusion based localization algorithm for Mars rover
Xiuqiang Jiang, Shuang Li, Ting Tao and Bingheng Wang

    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
Xiuqiang Jiang, Shuang Li, Ting Tao and Bingheng Wang : College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Techno-Press: Publishers of international journals and conference proceedings.       Copyright © 2021 Techno Press
P.O. Box 33, Yuseong, Daejeon 305-600 Korea, Tel: +82-42-828-7996, Fax : +82-42-828-7997, Email: