Pose Estimation of Unmanned Ground Vehicle based on Dead-reckoning/GPS sensor fusion by Unscented Kalman Filter

被引：0

作者：

Malyavej, Veerachai ^{[1
]}

Torteeka, Peerapong ^{[1
]}

Wongkharn, Siripong ^{[1
]}

Wiangtong, Theerayod ^{[1
]}

机构：

[1] Mahanakorn Univ Technol, Fac Engn, Bangkok, Thailand

来源：

ECTI-CON: 2009 6TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY, VOLS 1 AND 2 | 2009年

关键词：

Robot Localization; GPS; Electronic Compass; Unscented Kalman Filter;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Pose estimation is one of the most important part of guidance systems in unmanned vehicles. In this paper, we consider the problem of pose estimation of unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The unscented Kalman filter (UKF) is used to fuse the information from those sensors. To improve the accuracy and robustness, we also propose the method to calibrate the output of electronic compass. The experimental results strongly confirm the benefit of our simple algorithm even during GPS outage in some short period of time.

引用

页码：363 / 366

页数：4

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