{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,23]],"date-time":"2026-03-23T16:00:51Z","timestamp":1774281651193,"version":"3.50.1"},"reference-count":37,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8967634","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"552-559","source":"Crossref","is-referenced-by-count":17,"title":["Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints"],"prefix":"10.1109","author":[{"given":"Cagri","family":"Kilic","sequence":"first","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]},{"given":"Jason N.","family":"Gross","sequence":"additional","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]},{"given":"Nicholas","family":"Ohi","sequence":"additional","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]},{"given":"Ryan","family":"Watson","sequence":"additional","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]},{"given":"Jared","family":"Strader","sequence":"additional","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]},{"given":"Thomas","family":"Swiger","sequence":"additional","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]},{"given":"Scott","family":"Harper","sequence":"additional","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]},{"given":"Yu","family":"Gu","sequence":"additional","affiliation":[{"name":"West Virginia University,Department of Mechanical and Aerospace Engineering,Morgantown,WV,26506"}]}],"member":"263","reference":[{"key":"ref33","author":"gelb","year":"1974","journal-title":"Applied Optimal Estimation"},{"key":"ref32","author":"ebersole","year":"2016","journal-title":"Skid-steer kinematics for dual-arm mobile manipulator system with dynamic center of gravity"},{"key":"ref31","first-page":"2704","article-title":"A man motion navigation system using high sensitivity gps, mems imu and auxiliary sensors","author":"mather","year":"2006","journal-title":"Proceedings of the 19th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2006)"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2010.2060723"},{"key":"ref37","year":"2017","journal-title":"Analog Devices"},{"key":"ref36","author":"misra","year":"2006","journal-title":"Global Positioning System Signals Measurements and Performance Second Edition"},{"key":"ref35","article-title":"Rtklib: Open source program package for rtk-gps","author":"takasu","year":"2009","journal-title":"Proc of FOSS4G"},{"key":"ref34","year":"2015","journal-title":"OEM615 Receivers Data Sheet"},{"key":"ref10","author":"leslie","year":"2016","journal-title":"Electrical and computer architecture of an autonomous mars sample return rover prototype"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1061\/(ASCE)AS.1943-5525.0000810"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543184"},{"key":"ref13","article-title":"Curiouser and curiouser: Surface robotic technology driving mars rover curiositys exploration of gale crater","author":"maimone","year":"2013","journal-title":"Robotics and Automation Workshop on Planetary Rovers (ICRA Workshop) 2013 IEEE International Conference on"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20184"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21761"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/AERO.2014.6836446"},{"key":"ref17","year":"2018","journal-title":"National Aeronautics and Space Administration Curiosity’s Traverse Map Through Sol 2166"},{"key":"ref18","year":"2019","journal-title":"National Aeronautics and Space Administration Opportunity Updates"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/MCG.2005.140"},{"key":"ref28","year":"2019","journal-title":"Husky unmanned ground vehicle"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1638016"},{"key":"ref27","author":"groves","year":"2013","journal-title":"Principles of GNSS Inertial and Multisensor Integrated Navigation Systems"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2005.1571116"},{"key":"ref6","first-page":"957","article-title":"Towards autonomous mars rover localization: Operations in 2003 mer mission and new developments for future missions","volume":"37","author":"di","year":"2008","journal-title":"International Archives of the Photogrammetry Remote Sensing and Spatial Information Sciences"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/70.964672"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-007-0046-z"},{"key":"ref8","first-page":"45","article-title":"Surface navigation and mobility intelligence on the mars exploration rovers","author":"maimone","year":"2006","journal-title":"Intelligence for Space Robotics"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1163\/016918609X12619993300548"},{"key":"ref2","article-title":"Spirit rover localization and topographic mapping at the landing site of gusev crater, mars","volume":"111","author":"li","year":"2006","journal-title":"Journal of Geophysical Research Planets"},{"key":"ref9","article-title":"Spirit mars rover mission: Overview and selected results from the northern home plate winter haven to the side of scamander crater","volume":"115","author":"arvidson","year":"2010","journal-title":"Journal of Geophysical Research Planets"},{"key":"ref1","author":"board","year":"2012","journal-title":"Vision and Voyages for Planetary Science in the Decade 2013-2022"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2016.2585599"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/CGNCC.2014.7007449"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2011.5991282"},{"key":"ref24","year":"2019","journal-title":"National Aeronautics and Space Administration Rover - Mars Science Laboratory"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2011.2168818"},{"key":"ref26","first-page":"5","article-title":"Ros: an open-source robot operating system","volume":"3","author":"quigley","year":"2009","journal-title":"ICRA Workshop on Open Source Software"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907073777"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08967634.pdf?arnumber=8967634","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T19:22:09Z","timestamp":1756754529000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8967634\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":37,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8967634","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}