초록
It is generally important to get a precise position information for autonomous unmanned vehicle(AUV) to run safely. For getting the position of AUV, the GPS has been using to navigation in a vehicle. Though it is useful to finding a position, it is difficult to precisely control a trajectory of the AUV due to large measuring error which may reach over 10 meters. Therefore to apply AUV it needs to compensate for the error. This paper proposes a method to more precisely localize AUV using three low-cost differential global positioning systems (DGPS). The distance errors between each DGPS are minimized as using the least square method (LSM) and the Kalman filter to eliminate a Gaussian white noise. The selected DGPS is cheaper and easier to set up than the RTK-GPS. It is also more precise than the general GPS. The proposed method can compensate the relatively position error according to stationary and moving distance of the AUV. For evaluating the algorithm by simulation, the DGPS signal with the Gaussian white noise to any points is generated by the AR model and compared with the measurement signal. It is confirmed that the proposed method can effectively compensate the position error as comparing with the measurement signal. The compensated position signal can be used to localize and control the AUV in the road.
