Title :
An augmented state vector approach to GPS-based localization
Author :
Capezio, Francesco ; Sgorbissa, Antonio ; Zaccaria, Renato
Author_Institution :
Univ. of Genova, Genova
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
The paper focuses on the localization subsystem of ANSER, a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. ANSER localization subsystem is composed of a non-differential GPS unit and a laser rangefinder for landmark-based localization (inertial sensors are absent). An augmented state vector approach and an Extended Kalman filter are successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
Keywords :
Global Positioning System; Kalman filters; airports; laser ranging; mobile robots; nonlinear filters; path planning; surveillance; ANSER localization subsystem; GPS-based localization; augmented state vector approach; autonomous mobile robot surveillance; civilian airports; extended Kalman filter; landmark-based localization; laser rangefinder; Additive white noise; Airports; Frequency estimation; Gaussian noise; Global Positioning System; Laser noise; Position measurement; Satellite broadcasting; State estimation; Surveillance;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399316
