GPS/DR Information Fusion for AGV Navigation

In this paper, a study on AGV navigation system which is based on GPS/DR information fusion, in order to make AGV realize outdoor navigation with high-precision and low cost. In this system, we apply Kalman filtering algorithm on GPS signal and DR signal to make GPS signal and DR signal mutually compensate each other, and play each other advantages, so that we can obtain high-precision positioning data used for AGV navigation. Moreover, we write programs to realize the navigation system for AGV, and apply it for an experiment. At the end of this paper, we show a group of curves for positioning data collected in the experiment and corresponding processing results. Found by comparisons, the positioning accuracy of integrated navigation system than the positioning accuracy of GPS navigation alone increased by 50%.