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Proceedings Paper

State estimation and vehicle localization for the FIDO rover
Author(s): Eric T. Baumgartner; Hrand Aghazarian; Ashitey Trebi-Ollennu; Terrance L. Huntsberger; Michael S. Garrett
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Paper 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.

Paper Details

Date Published: 16 October 2000
PDF: 8 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403731
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)
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Michael S. Garrett, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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