대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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- Pages.115-117
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- 2009
GPS 음영지역 극복을 위한 이동로봇의 실험적 위치추정
Localization Performance Enhancement on GPS Interfering Spot
- 발행 : 2009.05.07
초록
This paper presents localization performance enhancement on GPS interfering spot for mobile robot. Localization system applied Extended Kalman filter algorithm that utilized Diffrential GPS and odometry, inertial sensors. In this paper, different noise covariance is applied to Extended Kalman Filter according to the GPS quality. Experiment results show that proposed localization system improve considerably localization performance of mobile robots.