Unmanned ground vehicle positioning system by GPS/dead-reckoning/IMU sensor fusion

被引：0

作者：

Zhang, Meng ^{[1
]}

Liu, Ke ^{[1
]}

Li, Chen ^{[2
]}

机构：

[1] State Grid Shandong Elect Power Res Inst, Jinan 250003, Shandong, Peoples R China

[2] State Grid Qihe Power Supply Co, Qihe 251100, Shandong, Peoples R China

来源：

PROCEEDINGS OF THE 2ND ANNUAL INTERNATIONAL CONFERENCE ON ELECTRONICS, ELECTRICAL ENGINEERING AND INFORMATION SCIENCE (EEEIS 2016) | 2016年 / 117卷

关键词：

Unmanned Vehicle; Kalman Filter; GPS/IMU; DR;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

Real-time positioning system is critical for control and navigation of unmanned ground vehicles. In this paper, we present a low-cost integrated GPS/DR/IMU positioning solution. A two-level adaptive Kalman Filter based algorithm is introduced to fuse sensor signals. Experimental results demonstrate a much better performance with accurate and robustness output even during short-time GPS signal drop-out.

引用

页码：737 / 747

页数：11

共 50 条

[1] Pose Estimation of Unmanned Ground Vehicle based on Dead-reckoning/GPS sensor fusion by Unscented Kalman Filter
Malyavej, Veerachai
Torteeka, Peerapong
Wongkharn, Siripong
Wiangtong, Theerayod
[J]. ECTI-CON: 2009 6TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY, VOLS 1 AND 2, 2009, : 363 - 366
[2] Land vehicle navigation filtering for a GPS/dead-reckoning system
Rogers, RM
[J]. PROCEEDINGS OF THE NATIONAL TECHNICAL MEETING - NAVIGATION AND POSITIONING IN THE INFORMATION AGE, 1997, : 703 - 708
[3] Positioning of vehicle on undulating ground using GPS and dead reckoning
Aono, T
Fujii, K
Hatsumoto, S
Kamiya, T
[J]. 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 3443 - 3448
[4] AI-IMU Dead-Reckoning
Brossard, Martin
Barrau, Axel
Bonnabel, Silvere
[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2020, 5 (04): : 585 - 595
[5] Sensor-based dead-reckoning for indoor positioning
Sharp, Ian
Yu, Kegen
[J]. PHYSICAL COMMUNICATION, 2014, 13 : 4 - 16
[6] Sensor fusion for dead-reckoning mobile robot navigation
Sasiadek, JZ
Hartana, P
[J]. MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, 2001, : 251 - 256
[7] Improving UWB Positioning Accuracy by Fusion With Pedestrian Dead-Reckoning
Krska, Josef
Navratil, Vaclav
[J]. 2024 34TH INTERNATIONAL CONFERENCE RADIOELEKTRONIKA, RADIOELEKTRONIKA 2024, 2024,
[8] Personal Dead-reckoning system for GPS-denied environments
Ojeda, Lauro
Borenstein, Johann
[J]. 2007 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY AND RESCUE ROBOTICS, 2007, : 90 - 95
[9] Accurate local vehicle dead-reckoning for a parking assistance system
Kochem, M
Neddenriep, R
Isermann, R
Wagner, N
Hamann, CD
[J]. PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2002, 1-6 : 4297 - 4302
[10] Non-GPS navigation with the personal dead-reckoning system
Ojeda, Lauro
Borenstein, Johann
[J]. UNMANNED SYSTEMS TECHNOLOGY IX, 2007, 6561

← 1 2 3 4 5 →