Implementation of Position and Yaw Estimating Technique for a Cleaning Robot Using Pseudolites, Low-cost IMU, and Magnetometers

Title
Implementation of Position and Yaw Estimating Technique for a Cleaning Robot Using Pseudolites, Low-cost IMU, and Magnetometers
Authors
김종원이택진전상훈김강호소형민기창돈
Keywords
Pseudolite; Indoor Navigation; Magnetometer; Robot Tracking
Issue Date
2010-11
Publisher
The 17th GNSS Workshop
Abstract
Indoor navigation is one of the most difficult problem to resolve. To develop a complete indoor navigation system, many research groups have been studying on it. In this study, a position tracking technique using CDGPS algorithm using measurements of pseudolite signals and a heading estimation algorithm using 1 gyroscope and 2 magnetometers are implemented to track Cleaner Robot. Static and dynamic test is performed using the pseudolite-based indoor navigation system established in Seoul Nat’l Univ. GNSS Lab. For static test, position estimate was very precise and heading estimate was moderate. For dynamic test, Cleaner Robot’s position and yaw could be estimated successfully and continuously.
URI
http://pubs.kist.re.kr/handle/201004/39109
Appears in Collections:
KIST Publication > Conference Paper
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