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Experimental results from FLEXnav: an expert rule-based dead-reckoning system for mars rovers
2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)
Research at the University of Michigan's Mobile Robotics Lab aims at the development of an accurate proprioceptive (i.e., without external references) position estimation (PPE) system for Mars Rovers. Much like other PPE systems, ours uses an inertial measurement unit (IMU) comprising three fiber-optic gyroscopes and a two-axes accelerometer, as well as odometry based on wheel encoders. Our PPE system, however, is unique in that it does not use the conventional Kalman Filter approach for fusing
doi:10.1109/aero.2004.1367682
fatcat:fbvmgqsz35durktkie3oue4wru