Attitude and position estimation on the Mars Exploration Rovers

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

Volumn 1, Issue , 2005, Pages 20-27

  Ali, Khaled S ^a   Vanelli, C Anthony ^a   Biesiadecki, Jeffrey J ^a   Maimone, Mark W ^a   Cheng, Yang ^a   San Martin, A Miguel ^a   Alexander, James W ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Attitude estimation; Position estimation

Indexed keywords

ACCELEROMETERS; CAMERAS; IMAGE ANALYSIS; PLANETS; SUN;

ATTITUDE ESTIMATION; MARS EXPLORATION ROVERS (MER); POSITION ESTIMATION; WHEEL ODOMETRY;

SPACE RESEARCH;

EID: 27944496392     PISSN: 1062922X     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. E. Baumgartner, H. Aghazarian, and A. Trebi-Ollennu, "Rover Localization Results for the FIDO Rover," Proc. SPIE Photonics East Conference, October, 2001.
2. J. Biesiadecki, M. Maimone, and J. Morrison, "The Athena SDM Rover: A Testbed for Mars Rover Mobility", Proc. International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS), June, 2001.
3. A. Eisenman, C.C. Liebe, R. Perez, "Sun Sensing on the Mars Exploration Rovers", Proc. 2002 IEEE Aerospace Conference, Vol. 5, pp. 5-2249-5-2262, March 2002.]
4. A.H. Mishkin, J.C. Morrison, T.T. Nguyen, H.W. Stone, B.K. Cooper, B.H. Wilcox, "Experiences with Operations and Autonomy of the Mars Pathfinder Microrover", Proc. IEEE Aerospace Conference, Aspen, CO, March 1998.
5. Y.Cheng, M. Maimone, L. Matthies, "Visual Odometry on the Mars Exploration Rovers", Proc. IEEE Conference on Systems, Man and Cybernetics, Waikoloa, Hawaii, October 2005.
6. M.D. Shuster and S.D. Oh, "Three-Axis Attitude Determination from Vector Observations", Journal of Guidance and Control, Vol. 4, No. 1, pp. 70-77, 1981.
7. R. Volpe, "Inverse Kinematics for All-Wheel Steered Rovers", internal Jet Propulsion Laboratory memo.