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Proceedings Paper

Rover localization results for the FIDO rover
Author(s): Eric T. Baumgartner; Hrand Aghazarian; Ashitey Trebi-Ollennu
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Paper Abstract

This paper describes the development of a two-tier state estimation approach for NASA/JPL's FIDO Rover that utilizes wheel odometry, inertial measurement sensors, and a sun sensor to generate accurate estimates of the rover's position and attitude throughout a rover traverse. The state estimation approach makes use of a linear Kalman filter to estimate the rate sensor bias terms associated with the inertial measurement sensors and then uses these estimated rate sensor bias terms to compute the attitude of the rover during a traverse. The estimated attitude terms are then combined with the wheel odometry to determine the rover's position and attitude through an extended Kalman filter approach. Finally, the absolute heading of the vehicle is determined via a sun sensor which is then utilized to initialize the rover's heading prior to the next planning cycle for the rover's operations. This paper describes the formulation, implementation, and results associated with the two-tier state estimation approach for the FIDO rover.

Paper Details

Date Published: 4 October 2001
PDF: 11 pages
Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444167
Show Author Affiliations
Eric T. Baumgartner, Jet Propulsion Lab. (United States)
Hrand Aghazarian, Jet Propulsion Lab. (United States)
Ashitey Trebi-Ollennu, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 4571:
Sensor Fusion and Decentralized Control in Robotic Systems IV
Gerard T. McKee; Paul S. Schenker, Editor(s)

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