Attitude and position estimation on the Mars exploration rovers

@article{Ali2005AttitudeAP,
  title={Attitude and position estimation on the Mars exploration rovers},
  author={Khaled S. Ali and C. Anthony Vanelli and Jeffrey J. Biesiadecki and Mark W. Maimone and Yang Cheng and A. Miguel San Martin and James W. Alexander},
  journal={2005 IEEE International Conference on Systems, Man and Cybernetics},
  year={2005},
  volume={1},
  pages={20-27 Vol. 1}
}
  • K. Ali, C. Vanelli, J. Alexander
  • Published 10 October 2005
  • Education
  • 2005 IEEE International Conference on Systems, Man and Cybernetics
NASA/JPL's Mars exploration rovers acquire their attitude upon command and autonomously propagate their attitude and position. The rovers use accelerometers and images of the sun to acquire attitude, autonomously searching the sky for the sun with an articulated camera. To propagate the attitude and position the rovers use either accelerometer and gyro readings or gyro readings and wheel odometry, depending on the nature of the movement Earth-based operators have commanded. Where necessary… 

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