지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.6
- 수록면
- 129 - 135 (7page)
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이 논문의 연구 히스토리 (3)
2014
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초록· 키워드
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In this paper, a high precision outdoor positioning system is newly proposed using multiple GPS receivers based on the Extended Kalman Filter (EKF). Typically, the GPS signal has the instantaneous errors that degrade the positioning seriously. Using the multiple GPS receivers instead of an expensive DGPS receiver, the positioning reliability and accuracy are improved in this research as a low cost solution. To incorporate the small displacement, an INS data have been tightly coupled to the GPS data, which has the inherit disadvantage of the cumulative error occurring over time. To achieve a stabilized and accurate positioning system, the multiple GPS receiver data are fused with the INS data through the EKF process. Through real navigation experiments of an outdoor mobile robot, the performance of the proposed system has been verified to be accurate comparable to DGPS system with a lower cost.
목차
Abstract
1. 서론
2. 시스템 구성
3. 다중 GPS 시스템
4. GPS / INS 융합 알고리즘
5. 실험 결과
6. 결론
References
참고문헌 (11)
참고문헌 신청
1. [학술지(정기간행물)] - 이정환 / 2012 / GPS/INS센서 융합을 이용한 고 정밀 위치 추정에 관한 연구 / 전자공학회논문지 49 (11) : 159 ~ 166
2. [학술지(정기간행물)] - Sang Heon Oh / 2012 / Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique / Journal of Electrical Engineering & Technology 7 (4) : 615 ~ 625
3. [학술지(정기간행물)] - Kai-Wei Chiang / 2007 / An intelligent navigator for seamless INS/GPS integrated land vehicle navigation applications / Applied Soft Computing : 722 ~ 733
4. [학술대회논문] - Kazunori Ohno / 2003 / Outdoor Navigation of a Mobile Robot between Buildings based on DGPS and Odometry Data Fusion / IEEE International Conference on Robotics & Automation 2 : 1978 ~ 1984
5. [학술지(정기간행물)] - H. C. Moon / 2008 / The Development of Driving Algorithm for an Unmanned Vehicle with Multiple-GPS’s / Robotics and Systems 14 (1)
2. [학술지(정기간행물)] - Sang Heon Oh / 2012 / Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique / Journal of Electrical Engineering & Technology 7 (4) : 615 ~ 625
3. [학술지(정기간행물)] - Kai-Wei Chiang / 2007 / An intelligent navigator for seamless INS/GPS integrated land vehicle navigation applications / Applied Soft Computing : 722 ~ 733
4. [학술대회논문] - Kazunori Ohno / 2003 / Outdoor Navigation of a Mobile Robot between Buildings based on DGPS and Odometry Data Fusion / IEEE International Conference on Robotics & Automation 2 : 1978 ~ 1984
5. [학술지(정기간행물)] - H. C. Moon / 2008 / The Development of Driving Algorithm for an Unmanned Vehicle with Multiple-GPS’s / Robotics and Systems 14 (1)
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