Title :
Application of EKF in Laser/Inertial Sensors Localization System
Author :
Yahui, Luo ; Ping, Jiang ; Wenwu, Hu ; Yanqun, Xie
Author_Institution :
Coll. of Eng., Hunan Agric. Univ., Changsha, China
Abstract :
To realize the precise localization of the field working machine, the localization system which based on Laser/ Inertial Sensors (Laser/INS) was designed. Meanwhile, the system model was established, the Extended Kalman Filtering (EKF) algorithm was proposed, and the simulation was accomplished by Matlab. The simulation results show that the location system using the filter algorithm can keep precise estimation in long time, and can locate the field working machine real-timely.
Keywords :
Kalman filters; agricultural machinery; inertial navigation; laser beam applications; nonlinear estimation; sensor placement; EKF; Matlab; extended Kalman filtering algorithm; field working machine; laser-inertial sensor localization system; precise estimation; Equations; Gyroscopes; Kalman filters; Laser modes; Mathematical model; Measurement by laser beam; Sensors; Extended Kalman Filtering; inertial sensor; lase; localization;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.822
