Title :
An Augmented State Vector Approach to GPS-Based Localization
Author :
Capezio, Francesco ; Sgorbissa, Antonio ; Zaccaria, Renato
Author_Institution :
DIST Univ. of Genova, Genoa
Abstract :
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.
Keywords :
Global Positioning System; airports; laser ranging; mobile robots; surveillance; ANSER project; Airport Night Surveillance Expert Robot; GPS-based localization; augmented state vector approach; autonomous surveillance; civilian airports; extended Kalman filter; inertial sensors; laser rangefinder; localization subsystem; map-based localization; mobile robot; nondifferential GPS unit; patrolling robot; wide outdoor areas; Airports; Cameras; Global Positioning System; Mobile robots; Robot sensing systems; Robot vision systems; Robotics and automation; State estimation; Surveillance; Unmanned aerial vehicles;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on
Conference_Location :
Jacksonville, FI
Print_ISBN :
1-4244-0790-7
Electronic_ISBN :
1-4244-0790-7
DOI :
10.1109/CIRA.2007.382861
