Accurate localization in combination with planet observation and dead reckoning for lunar rover

This paper proposes a localization method to estimate position and azimuth of a lunar rover. In the proposed method, the position is precisely estimated by integration of an absolute and a relative position. The absolute position is measured by observing the sun and the earth, and the relative position is determined by dead reckoning. Effectiveness is confirmed by the results of simulations. Moreover, differences between proposed method and Extended Kalman Filter are shown by results of long-distance simulation.