A study on INS/GPS implementation of loosely coupled method for localization of mobile robot.

이동로봇의 위치 추정을 위한 약결합 방식의 INS/GPS 구현에 관한 연구

In this paper, shows a research in accordance with the design the implementation of the localization system for mobile robot using INS(Inertial Navigation System) and GPS(Global Positioning System). First, a Strapdown Inertial Navigation System : SDINS is designed and implemented for low speed walking robot, by modifying Inertial Navigation System which is widely used for rocket, airplane, ship and so on. In addition, thesis proposes the localization of robot with the method of loosely coupled method by using Kalman Filter with INS/GPS integrated system to utilize assumed position and steed data from GPS.