EKF/UPF필터 변환을 통한 Multi-GPS/INS 융합 시스템의 실외 위치추정

Abstract

In this Paper, outdoor position estimation system was implemented using GPS (Global Positioning System) and INS (Inertial Navigation System). GPS position information has lots of errors by interference from obstacles and weather, the surrounding environment. To reduce these errors, multiple GPS system is used. Also, the Discrete Wavelet Transforms was applied to INS data for compensation of its error. In this paper, position estimation of the mobile robot in the straight line is conducted by EKF (Extended Kalman Filter). However, curve running position estimation is less accurate than straight line due to phase change in rotation. The curve is recognized through the rate of change in heading angle and the position estimation precision of the initial curve was improved by UPF (Unscented Particle Filter). In the case of UPF, if the number of particle is so many that big memory gets size is needed and processing speed becomes late. So, it only used the position estimation in the initial curve. Thereafter, the position of mobile robot in curve is estimated through switching from UPF to EKF again. Through the experiments, we verify the superiority of the system and make a conclusion.