Advanced Robot Navigation System´s Signal Processing Based on GPS/INS

Author

Niu, Jiangchuan ; Li, Sujuan ; Zhang, Wenbo ; Li, Xiyu

Author_Institution

Sch. of Aerosp. Sci. & Eng., Beijing Inst. of Technol., Beijing

Volume

3

fYear

2008

fDate

20-22 Dec. 2008

Firstpage

244

Lastpage

248

Abstract

Advanced robot´s navigation system based on GPS/INS is established in order to meet its working surroundings and taskpsilas demand. Centralized open-loop Kalman filter is applied in the navigation system. GPS/INS devices´ output difference is the filter´s input. The position-velocity integrated measurement equation is deduced based on the robotpsilas locomotion performance and measurement demand. Simulation experiments are conducted under MATLAB software environment. The experiment results show that the systempsilas noise is retained and the navigation precision is improved effectively.

Keywords

Global Positioning System; Kalman filters; inertial navigation; legged locomotion; path planning; position control; velocity control; GPS-INS; Matlab software; navigation precision; open-loop Kalman filter; position-velocity integrated measurement equation; robot locomotion; robot navigation system signal processing; Estimation error; Global Positioning System; Inertial navigation; Intelligent robots; Kalman filters; Orbital robotics; Railway engineering; Satellite navigation systems; Signal processing; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Information Technology Application, 2008. IITA '08. Second International Symposium on

Conference_Location

Shanghai

Print_ISBN

978-0-7695-3497-8

Type

conf

DOI

10.1109/IITA.2008.437

Filename

4739995