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Kinematics modeling is an indispensable component for dead reckoning of mobile robot. Aimed at this problem in rough terrain, the kinematics model is analyzed by the rigid-body kinematical constraints of mobile robot that is on the basis of locomotion architecture with the wheeled and rocker-bogie suspension system. At the same time, a method of kinematics model integrated with wheel-ground contact angle is suggested, which is able to fuse the information from multiple sensors and to estimate the three-dimensional motion trajectory of mobile robot. With the simulation and real experiment in different terrain, the exactness and effectiveness of this method are demonstrated.