This paper presents a new navigation system for long-range exploration in which a planetary exploration rover cooperates with landers. This technique is accomplished using a sensor fusion framework that combines wheel odometry with the electric power generation of a solar array panel and an accelerometer to provide the rover’s relative and absolute attitude. Wheel odometry is also combined with Angle-of-Arrival observation by the beacons of landers using an extended Kalman filter to provide the relative and absolute position. We gathered the experimental data for numerical simulations at two distinct sites, one for attitude determination, and the other for localization. The experimental data are used in numerical simulations. Results show our ability to determine absolute rover attitude to within a few degrees, and decrease absolute rover position errors.