무인지상차량을 위한 GPS와 DR을 이용한 항법시스템

GPS and DR Navigation System for Unmanned 9round Vehicle

  • 박대선 (건국대학교 GPS 시스템 연구실) ;
  • 박정훈 (건국대학교 GPS 시스템 연구실) ;
  • 지규인 (건국대학교 GPS 시스템 연구실)
  • 발행 : 2000.10.01

초록

Recently, number of navigation system using GPS and other complementary sensors has been developed to offer high-position accuracy. In this paper, an integration of GPS and Dead-Reckoning, which consists of a fiber optical gyroscope and two high-precision wheel-motor encoders for a unmanned navigation system, is presented. The main objective of this integrated GPS/DR unmanned navigation system is to provide accurate position and heading navigation data continuously for autonomous mobile robot. We propose a method for increasing the accuracy of the estimated position of the mobile robot by its DR sensors, high-precision wheel-motor encoders and a fiber optical gyroscope. We used Kalman filter theory to combine GPS and DR measurements. The performance of GPS/DR navigation system is evaluated.

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