High-Precision Heading Determination Based on the Sun for Mars Rover

Table 1

Definition of main frames.

Name	Notation	X axis	Y axis	Z axis
Horizontal frame	H	Local north	Local west	Opposite gravity
Earth-centered inertial frame	E	Vernal equinox	Right-handed	North pole
Earth-centered fixed frame	F	Prime meridian	Right-handed	North pole
Transition frame	T	Rover heading	Right-handed	Opposite gravity
Inclinometer frame	I	X axis of itself	Y axis of itself	Right-handed
Sun sensor frame	C	Horizontal pixels	Right-handed	Optical axis