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An outdoor navigation system using GPS and inertial platform

The use of the Global Positioning System (GPS) in outdoor localization is a quite common solution in large environments where no other references are available and positioning requirements are not so pressing. Of course, fine motion without the use of an expensive differential device is not an easy...

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Main Authors:	Panzieri, S., Pascucci, F., Ulivi, G.
Format:	Conference Proceeding
Language:	English
Subjects:	Encoding Filtering algorithms Fuses Global Positioning System Information filtering Information filters Kalman filters Motion estimation Navigation Pressing
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creator	Panzieri, S. Pascucci, F. Ulivi, G.
description	The use of the Global Positioning System (GPS) in outdoor localization is a quite common solution in large environments where no other references are available and positioning requirements are not so pressing. Of course, fine motion without the use of an expensive differential device is not an easy task even now that available precision has been greatly improved as the military encoding has been removed. We present a localization algorithm based on Kalman filtering that tries to fuse information coming from an inexpensive single GPS with inertial and, sometimes uncertain, map based data. The algorithm is able to produce an estimated configuration for the robot that can be successfully fed back in a navigation system, leading to a motion whose precision is only related to current information quality. Some experiments show difficulties and possible solutions to this sensor fusion problem.
doi_str_mv	10.1109/AIM.2001.936925
format	conference_proceeding
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Of course, fine motion without the use of an expensive differential device is not an easy task even now that available precision has been greatly improved as the military encoding has been removed. We present a localization algorithm based on Kalman filtering that tries to fuse information coming from an inexpensive single GPS with inertial and, sometimes uncertain, map based data. The algorithm is able to produce an estimated configuration for the robot that can be successfully fed back in a navigation system, leading to a motion whose precision is only related to current information quality. 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Some experiments show difficulties and possible solutions to this sensor fusion problem.</description><subject>Encoding</subject><subject>Filtering algorithms</subject><subject>Fuses</subject><subject>Global Positioning System</subject><subject>Information filtering</subject><subject>Information filters</subject><subject>Kalman filters</subject><subject>Motion estimation</subject><subject>Navigation</subject><subject>Pressing</subject><isbn>0780367367</isbn><isbn>9780780367364</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2001</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotj1FLwzAURgMiqHPPgk_5A603yW3TgC9l6BxMFNTnkfWmI9KmI8mE_XsH28eB83bgY-xBQCkEmKd29V5KAFEaVRtZXbE70A2oWp-4YfOUfuE0rFBpvGXPbeDTIdM0RR7sn9_Z7KfA0zFlN_JD8mHHl59f3AbiPriYvR34frC5n-J4z657OyQ3v3jGfl5fvhdvxfpjuVq068ILwFxQ45xWhFIhyK2hyhohBVInlCXUskLd0bYCktR3pkHCGpSDzvSiA2EaNWOP5653zm320Y82Hjfnf-ofuy5FKQ</recordid><startdate>2001</startdate><enddate>2001</enddate><creator>Panzieri, S.</creator><creator>Pascucci, F.</creator><creator>Ulivi, G.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2001</creationdate><title>An outdoor navigation system using GPS and inertial platform</title><author>Panzieri, S. ; Pascucci, F. ; Ulivi, G.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i104t-d8ee73d423402b9d5a91214dc13ad472547cdb50d2dfc984d4603e0c9f1c01983</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2001</creationdate><topic>Encoding</topic><topic>Filtering algorithms</topic><topic>Fuses</topic><topic>Global Positioning System</topic><topic>Information filtering</topic><topic>Information filters</topic><topic>Kalman filters</topic><topic>Motion estimation</topic><topic>Navigation</topic><topic>Pressing</topic><toplevel>online_resources</toplevel><creatorcontrib>Panzieri, S.</creatorcontrib><creatorcontrib>Pascucci, F.</creatorcontrib><creatorcontrib>Ulivi, G.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Panzieri, S.</au><au>Pascucci, F.</au><au>Ulivi, G.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>An outdoor navigation system using GPS and inertial platform</atitle><btitle>2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Encoding Filtering algorithms Fuses Global Positioning System Information filtering Information filters Kalman filters Motion estimation Navigation Pressing
title	An outdoor navigation system using GPS and inertial platform
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