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GPS based Localization

GPS and Odometry Information based Outdoor Localization
  • Researchers
    • Ji-Hun Bae (M.S.)
  • Period of research
    • 2010. 3. ~ 2012. 2.
  • Research Background
    • GPS data filtering using its deviation data
    • Using weighted GPS data in Kalman filter by analyzing information in real-time
                         
          Fig. 1 Experimental environment

  • Research Objectives
    • Stable localization using extended Kalman filter by fusing GPS data and odometry information
  • Research Output
                          Fig. 2 Localization result : (a) deviation of GPS position data according to the environments, 
                (b) case 1 : localization result with conventional EKF, (c) localization result with using proposed method

    Fig. 3 Comparison between conventional purpose and proposed purpose : 
                 left : A of the environment, right : B of the environment

  • Paper 1 :  배지훈, 송재복, 최지훈, 가중화된 GPS 정보와 지도정보를 활용한 실외 이동로봇의 위치추정 (Outdoor Localization of a Mobile Robot Using Weighted GPS Data and Map Information), 로봇학회 논문지, Vol. 6, No. 3, pp. 292-300, 2011.09.   


* Last updated: 2012. 4. 30