Kinematic state estimation for a Mars rover

• DOI: 10.1017/s0263574799002234
• Publication Date: 2002-07-27T13:36:08Z
• Authors: J. (Bob) Balaram
• Keywords: Mars rover; Traverse

The Jet Propulsion Laboratory (JPL) is embarking on a series of exploration missions to Mars. Long-range rovers with several science instruments board will traverse many kilometers the surface. This paper describes some research underway at JPL as they pertain navigation these long-range rovers. A brief description provided Sojourner rover which recently completed short-range, near-lander Mars mission. called Rocky-7 under development implements number new technologies for traverses. kinematic configuration this vehicle described tile sensor set. then focuses state estimation techniques used on-board Rocky-7. review rover-related state-estimation work presented and an Extended Kalman Filter framework introduced. includes process models translation, small-angle/quaternion based rotations, gyro bias wheel contact well observation gyro, sun-sensor, accelerometer. novel slip constraint technique developed allow incorporation into filter highly non-linear kinematics resulting from rover's rocker-bogey suspension mechanism wheel-to-ground point variations. Simulation results are discussed detailed comparisons ground-truth data experimental presented.