Position estimation using GPS and dead reckoning

Author

Aono, Toshihiro ; Tsuda, Yuuji Ma ; Seino, Kenji ; Kamiya, Takayuki

Author_Institution

Mech. Eng. Res. Lab., Hitachi Ltd., Ibaraki, Japan

fYear

1996

fDate

8-11 Dec 1996

Firstpage

533

Lastpage

540

Abstract

A method for estimating vehicle position by using GPS, a fiber optic gyro and encoders is proposed. The position estimator in this method is the optimal in the sense of least variance. The production of an experimental autonomous lawn mower and the evaluation of the performance of the method are reported. The relation between the performance and the accuracy of GPS is discussed in terms of the parallelism of the lines, the uniformity of the spaces between the lines, and the straightness of the lines

Keywords

Global Positioning System; encoding; fibre optic sensors; gyroscopes; mobile robots; optimisation; position measurement; GPS; autonomous lawn mower; dead reckoning; encoders; fiber optic gyro; lawn mower; least variance estimation; parallel lines; straightness; uniformity; vehicle position estimation; Automotive engineering; Dead reckoning; Estimation error; Global Positioning System; Laboratories; Mechanical engineering; Mobile robots; Optical fibers; Remotely operated vehicles; Sonar detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-3700-X

Type

conf

DOI

10.1109/MFI.1996.572227

Filename

572227