DocumentCode :
2640396
Title :
Bias estimation of DGPS multi-path data for localization of mobile robot
Author :
Kim, Yong-Shik ; Kim, Bong Keun ; Ohba, Kohtaro ; Ohya, Akihisa
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba
fYear :
2007
fDate :
17-20 Sept. 2007
Firstpage :
1501
Lastpage :
1505
Abstract :
In this paper, a localization method is provided estimating bias error due to multi-path phenomenon of DGPS sensor. In order to recognize the position of mobile robot, it is necessary data structure to integrate information from sensor data. To take full advantage of two sensor data, an integration mechanism is provided and implemented. It is provided bias detection and bias estimation for multi-path phenomenon of DGPS sensor in the surrounding of buildings. A performance evaluation is shown through an outdoor experiment data with Yamabico mobile robot.
Keywords :
Global Positioning System; data structures; error analysis; mobile robots; sensors; DGPS multi path data; DGPS sensor; bias detection; bias error estimation; data structure; differential Global Positioning System; mobile robot localization; Filtering; Filters; Global Positioning System; Intelligent sensors; Mobile robots; Robot sensing systems; Satellite navigation systems; Sensor fusion; Sensor phenomena and characterization; State estimation; Kalman filter; State estimation; bias estimation; data integration; localization; multi-sensor;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
Type :
conf
DOI :
10.1109/SICE.2007.4421220
Filename :
4421220
Link To Document :
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