Position estimation using multiple low-cost GPS receivers for outdoor mobile robots

Woosik Lee, Woojin Chung

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    10 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages460-461
    Number of pages2
    ISBN (Electronic)9781467379700
    DOIs
    Publication statusPublished - 2015 Dec 16
    Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
    Duration: 2015 Oct 282015 Oct 30

    Publication series

    Name2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015

    Other

    Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
    Country/TerritoryKorea, Republic of
    CityGoyang City
    Period15/10/2815/10/30

    Bibliographical note

    Publisher Copyright:
    © 2015 IEEE.

    Keywords

    • EKF
    • Multiple GPS receiver
    • Outdoor positioning system

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

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