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Upcoming missions to the surface of Mars will use mobile robots to traverse long distances from the landing site. To prepare for these missions, the prototype revel; Rocky 7, has been tested in desert field trials conducted with a team of planetary scientists. While several new capabilities have been demonstrated, foremost among these was sun-sensor-based traversal of natural terrain totaling a distance of 1 km. This paper describes navigation results obtained in the field tests, where cross-track error was only 6% of the distance traveled. Comparison with previous results of other planetary rover systems shows this to be a significant improvement. Methods for further improvement are also discussed.