The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Performance Improvement of GPS/DR Car Navigation System Using Vehicle Movement Information

차량 움직임 정보를 이용한 GPS/DR 차량항법시스템 성능향상

  • 송종화 (건국대학교 전자공학과) ;
  • 김광훈 (건국대학교 전자공학과 BK21) ;
  • 지규인 (건국대학교 전자공학과) ;
  • 이연석 (군산대학교 제어로봇시스템공학과)
  • Received : 2010.01.28
  • Accepted : 2010.02.01
  • Published : 2010.02.26
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Abstract

This paper describes performance improvement of GPS/DR Integration system using area decision algorithm and vehicle movement information. In GPS signal blockage area, i.e., tunnel and underground parking area, DR sensor errors are accumulated and navigation solution is gradually diverged. We use the car movement information according to moving area to correct the DR sensor error. Also, vehicle movement is decided as stop, straight line, turn and movement changing region through DR sensor data analysis. The car experiment is performed to verify the supposed method. The results show that supposed method provides small position and heading error than previous method.

Keywords

References

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