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Efficient Mobile Robot Localization through Position Tracking Bias Mitigation for the High Accurate Geo-location System

고정밀 위치인식 시스템에서의 위치 추적편이 완화를 통한 이동 로봇의 효율적 위치 추정

  • 김곤우 (원광대학교 전기전자및정보공학부) ;
  • 이상무 (한국생산기술연구원 로봇기술본부) ;
  • 임충혁 (서울산업대학교 기계설계 자동화공학부)
  • Published : 2008.08.01

Abstract

In this paper, we propose a high accurate geo-location system based on a single base station, where its location is obtained by Time-of-Arrival(ToA) and Direction-of-Arrival(DoA) of the radio signal. For estimating accurate ToA and DoA information, a MUltiple SIgnal Classification(MUSIC) is adopted. However, the estimation of ToA and DoA using MUSIC algorithm is a time-consuming process. The position tracking bias is occurred by the time delay caused by the estimation process. In order to mitigate the bias error, we propose the estimation method of the position tracking bias and compensate the location error produced by the time delay using the position tracking bias mitigation. For accurate self-localization of mobile robot, the Unscented Kalman Filter(UKF) with position tracking bias is applied. The simulation results show the efficiency and accuracy of the proposed geo-location system and the enhanced performance when the Unscented Kalman Filter is adopted for mobile robot application.

Keywords

References

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