Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Extended kalman filter design for autonomous navigation with GPS and INS sensor system fusion

GPS와 INS의 센서융합을 이용한 자율항법용 확장형 칼만필터 설계

  • Yun, Duk-Sun (Department of Mechatronics Engineering, Kyonggi Institute of Technology) ;
  • Yu, Hwan-Shin (Department of Automotive & Mechanical Engineering, Howon University)
  • 윤득선 (경기공업대학 메카트로닉스과) ;
  • 유환신 (호원대학교 자동차.기계공학부)
  • Published : 2007.07.31
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Abstract

Autonomous unmanned vehicle is able to find the path and the way point by itself. For the more precise navigation performance, Extended kalman filter, which is integrated with inertial navigation system and global positioning system is proposed in this paper. Extended kalman filter's performance is evaluated by the simulation and applied to the unmanned vehicle. The test result shows the effectiveness of extended kalman filter for the navigation.

Keywords

References

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