State estimation and vehicle localization for the FIDO rover

Eric T. Baumgartner; Hrand Aghazarian; Ashitey Trebi-Ollennu; Terrance L. Huntsberger; Michael S. Garrett

doi:10.1117/12.403731

16 October 2000 State estimation and vehicle localization for the FIDO rover

Eric T. Baumgartner, Hrand Aghazarian, Ashitey Trebi-Ollennu, Terrance L. Huntsberger, Michael S. Garrett

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403731
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

This paper describes the means for generating rover localization information for NASA/JPL's FIDO rover. This is accomplished using a sensor fusion framework which combines wheel odometry with sun sensor and inertial navigation sensors to provide an integrated state estimate for the vehicle's position and orientation relative to a fixed reference frame. This paper describes two separate state estimation approaches built around the extended Kalman filter formulation and the Covariance Intersection formulation. Experimental results from runs in JPL's MarsYard are presented in order to compare the state estimates generated using each formulation.

Citation Download Citation

Eric T. Baumgartner, Hrand Aghazarian, Ashitey Trebi-Ollennu, Terrance L. Huntsberger, and Michael S. Garrett "State estimation and vehicle localization for the FIDO rover", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403731

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