Implementation of Position and Yaw Estimating Technique for a Cleaning Robot Using Pseudolites, Low-cost IMU, and Magnetometers
- Implementation of Position and Yaw Estimating Technique for a Cleaning Robot Using Pseudolites, Low-cost IMU, and Magnetometers
- 김종원; 이택진; 전상훈; 김강호; 소형민; 기창돈
- Pseudolite; Indoor Navigation; Magnetometer; Robot Tracking
- Issue Date
- The 17th GNSS Workshop
- 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.
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- KIST Publication > Conference Paper
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