一种基于gps定位的增强状态向量方法

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-12-26 DOI:10.1109/AIM.2007.4412556

F. Capezio, A. Sgorbissa, R. Zaccaria

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引用次数: 0

摘要

描述了ANSER项目(机场夜间监视专家机器人)，利用移动机器人在民用机场和类似的广阔室外区域进行自主监视。本文重点研究了巡逻机器人的定位子系统，该子系统由非差分GPS单元和用于地图定位的激光测距仪组成(不含惯性传感器)。此外，研究表明，利用增强状态向量方法和扩展卡尔曼滤波器可以成功地估计GPS噪声中的彩色分量，从而更接近于EKF适用的条件。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An Augmented State Vector Approach to GPS-Based Localization

The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrolling robot, composed of a nondifferential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.

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来源期刊

2007 International Symposium on Computational Intelligence in Robotics and Automation

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