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A Localization Method with UKF/MAF for a Single Antenna GNSS/IMU Integration of Autonomous Unmanned Ground Vehicle
- Lee, Jae Un;
- Park, Dong-Hyuk;
- Won, Jong-Hoon
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SCOPUS
2초록
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 © 2022 IEEE.
키워드
Autonomous Driving; GNSS/IMU; INS; Localization; Robots; Sensor Fusion; UGV; Unscented Kalman Filter
- 제목
- A Localization Method with UKF/MAF for a Single Antenna GNSS/IMU Integration of Autonomous Unmanned Ground Vehicle
- 저자
- Lee, Jae Un; Park, Dong-Hyuk; Won, Jong-Hoon
- 발행일
- 2022
- 유형
- Conference paper
- 저널명
- 2022 Sensor Data Fusion: Trends, Solutions, Applications, SDF 2022