The research of dead reckoning stabilization algorithm using different kinds of sensors

The Unmanned Ground Vehicle (UGV) is a robot that uses all sorts of sensors to recognize the external environment and acts voluntarily on its own, based on its judgments of the environment. It consists of the navigation system, vehicle control system, arbiter system and the obstacle detecting system. For the UGV to run safely, it is utterly important to have a correct understanding of the Current Position (CP) of the UGV. It is common to use the Global Positioning system (GPS) to find the CP but GPS is easily influenced by the external environment and it has many internal errors. Especially when it is inside a tunnel or in a city with a lot of skyscrapers, there is a poor date reception; CP acquired from GPS in these situations is unreliable, thus it has to be combined with dead reckoning. This study introduces the ways to find a more reliable dead reckoning algorithm by using the value of Roll, Pitch and Yaw, the position of the car, obtained from the Inertial Measurement Unit(IMU), and the encoder which tells us about the mileage information.