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Precise Outdoor Localization of a GPS-INS Integration System Using Discrete Wavelet Transforms and Unscented Particle Filter  

Seo, Won-Kyo (Dept, Interdisciplinary corporative course : Robot Pusan National University)
Lee, Jang-Myung (Dept. of Electrical Engineering, Pusan National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.48, no.6, 2011 , pp. 82-90 More about this Journal
Abstract
This paper proposes an advanced outdoor localization algorithm of a GPS(global positioning system)-INS(inertial navigation system) integration system. In order to reduce noise from the internal INS sensors, discrete wavelet transform and variable threshold method are utilized. The UPF (unscented particle filter) combines GPS information and INS signals to implement precise outdoor localization algorithm and to reduce noise caused by the acceleration, deceleration, and unexpected slips. The conventional de-noising method is mainly carried out using a low pass filter and a high pass filter which essentially result in signal distortions. This newly proposed system utilizes the vibration information of actuator according to fluctuations of the velocity to minimize signal distortions. The UPF also resolves non-linearities of the actuator and non-normal distributions of noises. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.
Keywords
Inertial Navigation System; Global Positioning System; Discrete Wavelet Transforms; Variable Threshold Method; Unscented Particle Filter;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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