TY - GEN
T1 - Position estimation using multiple low-cost GPS receivers for outdoor mobile robots
AU - Lee, Woosik
AU - Chung, Woojin
N1 - Funding Information:
This research was supported in part by the RandD Convergence Center Support Program (714002-7, Education and Research on Agricultural Automation), Ministry of Agriculture, Food and Rural Affairs and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (NRF-2014R1A2A1A10049634)
Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/16
Y1 - 2015/12/16
N2 - Recently, the application of navigation system to electric devices such as cars, airplanes, and cellphones has become common. This common usage increases the demand for GPS, and therefore, GPS accuracy has become important. However, applying an external correction device or using a high-accuracy GPS receiver is very expensive; thus, practical applications of robotic systems using this technology are limited. Therefore, in this paper, we propose a method of using multiple low-cost GPS receivers in position estimation to enhance accuracy and decrease system buildup cost. The position estimation is based on the following steps: 1) sensor modeling of each GPS receiver, and 2) position estimation using extended Kalman filter based on the model of each sensor. The result of this study showed enhanced accuracy of the position estimation and the correlation between the number of GPS receivers used and accuracy of the position estimation. The position-estimation accuracy can be enhanced with low system buildup cost, and therefore, the proposed method can contribute to the field of robot control in outdoor environment.
AB - Recently, the application of navigation system to electric devices such as cars, airplanes, and cellphones has become common. This common usage increases the demand for GPS, and therefore, GPS accuracy has become important. However, applying an external correction device or using a high-accuracy GPS receiver is very expensive; thus, practical applications of robotic systems using this technology are limited. Therefore, in this paper, we propose a method of using multiple low-cost GPS receivers in position estimation to enhance accuracy and decrease system buildup cost. The position estimation is based on the following steps: 1) sensor modeling of each GPS receiver, and 2) position estimation using extended Kalman filter based on the model of each sensor. The result of this study showed enhanced accuracy of the position estimation and the correlation between the number of GPS receivers used and accuracy of the position estimation. The position-estimation accuracy can be enhanced with low system buildup cost, and therefore, the proposed method can contribute to the field of robot control in outdoor environment.
KW - EKF
KW - Multiple GPS receiver
KW - Outdoor positioning system
UR - http://www.scopus.com/inward/record.url?scp=84962682481&partnerID=8YFLogxK
U2 - 10.1109/URAI.2015.7358906
DO - 10.1109/URAI.2015.7358906
M3 - Conference contribution
AN - SCOPUS:84962682481
T3 - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
SP - 460
EP - 461
BT - 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
Y2 - 28 October 2015 through 30 October 2015
ER -