Bias estimation of DGPS multi-path data for localization of mobile robot

Author

Kim, Yong-Shik ; Kim, Bong Keun ; Ohba, Kohtaro ; Ohya, Akihisa

Author_Institution

Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba

fYear

2007

fDate

17-20 Sept. 2007

Firstpage

1501

Lastpage

1505

Abstract

In this paper, a localization method is provided estimating bias error due to multi-path phenomenon of DGPS sensor. In order to recognize the position of mobile robot, it is necessary data structure to integrate information from sensor data. To take full advantage of two sensor data, an integration mechanism is provided and implemented. It is provided bias detection and bias estimation for multi-path phenomenon of DGPS sensor in the surrounding of buildings. A performance evaluation is shown through an outdoor experiment data with Yamabico mobile robot.

Keywords

Global Positioning System; data structures; error analysis; mobile robots; sensors; DGPS multi path data; DGPS sensor; bias detection; bias error estimation; data structure; differential Global Positioning System; mobile robot localization; Filtering; Filters; Global Positioning System; Intelligent sensors; Mobile robots; Robot sensing systems; Satellite navigation systems; Sensor fusion; Sensor phenomena and characterization; State estimation; Kalman filter; State estimation; bias estimation; data integration; localization; multi-sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE, 2007 Annual Conference

Conference_Location

Takamatsu

Print_ISBN

978-4-907764-27-2

Electronic_ISBN

978-4-907764-27-2

Type

conf

DOI

10.1109/SICE.2007.4421220

Filename

4421220