An outdoor navigation system using GPS and inertial platform

Author

Panzieri, Stefano ; Pascucci, Federica ; Ulivi, Giovanni

Author_Institution

Dipt. di Informatica e Automazione, Rome Univ., Italy

Volume

7

Issue

2

fYear

2002

fDate

6/1/2002 12:00:00 AM

Firstpage

134

Lastpage

142

Abstract

The use of global positioning system (GPS) in outdoor localization is quite a common solution in large environments where no other reference is available and there are not so demanding positioning requirements. Of course, fine motion without the use of an expensive differential device is not an easy task, even now that available precision has been greatly improved as the military encoding has been removed. In this paper we present a localization algorithm based on Kalman filtering that tries to fuse information coming from an inexpensive single GPS with inertial data and map-based data. The algorithm is able to produce an estimated configuration for the robot that can be successfully fed back in a navigation system. Some experiments show difficulties and possible solutions of this sensor fusion problem

Keywords

Global Positioning System; Kalman filters; computerised navigation; feedback; filtering theory; inertial navigation; mobile robots; GPS; Kalman filtering; feedback; fine motion; inertial data; inertial platform; localization algorithm; map-based data; outdoor navigation system; sensor fusion; Encoding; Filtering algorithms; Fuses; Global Positioning System; Information filtering; Information filters; Kalman filters; Navigation; Robot sensing systems; Sensor fusion;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2002.1011250

Filename

1011250