An integrated GPS/CEPS position estimation system for outdoor mobile robot

This paper proposes an effective position estimation system for outdoor mobile robot. By using differential GPS technique, the effects of orbital and atmospheric errors, as well as satellite clock error, can be effectively canceled. The CEPS (Compass-Encoder Positioning System) which is much cheaper than traditional INS is practical for most autonomous mobile robots. With the integration of GPS and CEPS, the system may maintain the advantages of both navigation systems without many of the limitations of either. It ensures good performance from CEPS for some time after the loss of GPS signals, and continued navigation is possible during periods of GPS outage. Moreover, the CEPS can eliminated accumulating measurement error by periodically aligned with GPS