摘要: 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 intertial navigation ... 展开 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 intertial navigation sensors to provide an integrated state estimate for the vehicle's position and oreintation relative to some fixed reference frame. 收起