Unmanned Ground Vehicle Positioning System By Gps/Dead-Reckoning/Imu Sensor Fusion
PROCEEDINGS OF THE 2ND ANNUAL INTERNATIONAL CONFERENCE ON ELECTRONICS, ELECTRICAL ENGINEERING AND INFORMATION SCIENCE (EEEIS 2016)（2016）
Abstract
Real-time positioning system is critical for control and navigation of unmanned ground vehicles. In this paper, we present a low-cost integrated GPS/DR/IMU positioning solution. A two-level adaptive Kalman Filter based algorithm is introduced to fuse sensor signals. Experimental results demonstrate a much better performance with accurate and robustness output even during short-time GPS signal drop-out.
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Key words
Unmanned Vehicle,Kalman Filter,GPS/IMU,DR
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