Title :
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
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;
Conference_Titel :
Intelligent Information Technology Application, 2008. IITA '08. Second International Symposium on
Conference_Location :
Shanghai
Print_ISBN :
978-0-7695-3497-8
DOI :
10.1109/IITA.2008.437
