DocumentCode :
3485552
Title :
Accurate Estimation of Posture and Velocity with Application to Coordinated Motion Control of Twin Hoisting-Girder Transporters
Author :
Guo, Zhongwei ; Li, Yunhua
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing
fYear :
2008
fDate :
21-24 Sept. 2008
Firstpage :
1
Lastpage :
6
Abstract :
This paper proposed a novel method providing high-update rate vehicle posture and velocity estimation using real-time kinematics global position system (RTK-GPS) and simple in-vehicle speed sensors. The RTK-GPS noise processing techniques are used to discard the noises that do not satisfy the Kalman filter model. Combining the RTK-GPS and speed sensors using extended Kalman filter (EKF) provided a high-update rate estimation that can satisfy the need of the coordinated control of the vehicles fleet. The experimental and practical application results illustrate that the ability of the method meet the accuracy and robustness requirements of the control system.
Keywords :
Global Positioning System; Kalman filters; cranes; motion control; road vehicles; vehicle dynamics; RTK-GPS noise processing techniques; accurate posture estimation; coordinated motion control; extended Kalman filter model; high-update rate vehicle posture; real-time kinematics Global Position System; simple in-vehicle speed sensors; twin hoisting-girder transporters; velocity estimation; Automation; Base stations; Control systems; Global Positioning System; Inertial navigation; Kinematics; Mobile robots; Motion control; Motion estimation; Road vehicles; Kalman filter; RTK-GPS; mobile robot; noise processing; wheeled crane;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
Type :
conf
DOI :
10.1109/RAMECH.2008.4681509
Filename :
4681509
Link To Document :
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