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Multi-information fusion based localization algorithm for Mars rover

  • Jiang, Xiuqiang (College of Astronautics, Nanjing University of Aeronautics and Astronautics) ;
  • Li, Shuang (College of Astronautics, Nanjing University of Aeronautics and Astronautics) ;
  • Tao, Ting (College of Astronautics, Nanjing University of Aeronautics and Astronautics) ;
  • Wang, Bingheng (College of Astronautics, Nanjing University of Aeronautics and Astronautics)
  • Received : 2014.04.13
  • Accepted : 2014.06.20
  • Published : 2014.10.25
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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.

Keywords

References

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