GPS based Localization

GPS and Odometry Information based Outdoor Localization

• Researchers

  • Ji-Hun Bae (M.S.)

• Period of research

  • 2010. 3. ~ 2012. 2.

• Research Background

  • GPS data filtering using its deviation data

  • Using weighted GPS data in Kalman filter by analyzing information in real-time

          Fig. 1 Experimental environment

• Research Objectives

  • Stable localization using extended Kalman filter by fusing GPS data and odometry information

• Research Output

                          Fig. 2 Localization result : (a) deviation of GPS position data according to the environments, 

                (b) case 1 : localization result with conventional EKF, (c) localization result with using proposed method

    Fig. 3 Comparison between conventional purpose and proposed purpose : 

                 left : A of the environment, right : B of the environment

• • Paper 1 :  배지훈, 송재복, 최지훈, 가중화된 GPS 정보와 지도정보를 활용한 실외 이동로봇의 위치추정 (Outdoor Localization of a Mobile Robot Using Weighted GPS Data and Map Information), 로봇학회 논문지, Vol. 6, No. 3, pp. 292-300, 2011.09. 

* Last updated: 2012. 4. 30