Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Localization Performance Enhancement on GPS Interfering Spot

GPS 음영지역 극복을 위한 이동로봇의 실험적 위치추정

  • 김지용 (충남대학 BK21 메카트로닉스사업단) ;
  • 이지홍 (충남대학 BK21 메카트로닉스사업단) ;
  • 변재민 (한국전자통신연구원)
  • Published : 2009.05.07
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Abstract

This paper presents localization performance enhancement on GPS interfering spot for mobile robot. Localization system applied Extended Kalman filter algorithm that utilized Diffrential GPS and odometry, inertial sensors. In this paper, different noise covariance is applied to Extended Kalman Filter according to the GPS quality. Experiment results show that proposed localization system improve considerably localization performance of mobile robots.

Keywords