Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Outdoor Localization for a Quad-rotor using Extended Kalman Filter and Path Planning

확장 칼만 필터와 경로계획을 이용한 쿼드로터 실외 위치 추정

  • Kim, Ki-Jung (Department Interdisciplinary Program in Robotics, Pusan National University) ;
  • Lee, Dong-Ju (Depart of Electrical Engineering, Pusan National University) ;
  • Kim, Yoon-Ki (Depart of Electrical Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Depart of Electrical Engineering, Pusan National University)
  • 김기정 (부산대학교 로봇협동과정) ;
  • 이동주 (부산대학교 전자전기공학과) ;
  • 김윤기 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2014.02.10
  • Accepted : 2014.07.23
  • Published : 2014.11.01
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Abstract

This paper proposes a new technique that produces improved local information using a low-cost GPS/INS system combined with Extended Kalman Filter and Path Planning when a Quad-rotor flies. In the research, a low-cost GPS is combined with INS by Extended Kalman Filter to improve local information. However, this system has disadvantages in that estimation accuracy is getting worsens when the Quad-rotor flies through the air in a curve and precision of location information is influenced by performance of the used GPS. An algorithm based on Path Planning is adopted to deal with these weaknesses. When the Quad-rotor flies outdoors, a short moving path can be predicted because all short moving paths of quad-rotor can be assumed to be straight. Path planning is used to make the short moving path and determine the closest local information of data of the GPS/INS system to location determined by path planning. Through the foregoing process, improved local data is obtained when the quad-rotor flies, and the performance of the proposed system is verified from various outdoor experiments.

Keywords

References

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