A Localization Method with UKF/MAF for a Single Antenna GNSS/IMU Integration of Autonomous Unmanned Ground Vehicle

초록

In this paper, we present a localization method for an UGV by using the integration of a single-antenna GNSS and a low cost IMU. An unscented Kalman filter working together with a moving average filter is employed to the method because of limitation on the linear characteristics of the Kalman filter. Experimental test results using a 4-wheel UGV are included in the paper to show the feasibility of the proposed localization method