Position Recognition System of Autonomous Vehicle via Kalman Filtering

被引：0

作者：

Kim, Dong Jin ^{[1
]}

Bae, Jong Il ^{[2
]}

Lee, Kil Soo ^{[1
]}

Lee, Dong Seok ^{[1
]}

Lee, Yun Ja ^{[3
]}

Lee, Man Hyung ^{[1
]}

机构：

[1] Pusan Natl Univ, Sch Mech Engn, Busan 609735, South Korea

[2] Pukyong Natl Univ, Dept Elect Engn, Busan 608739, South Korea

[3] Pusan Natl Univ, Dept Dance, Busan 609735, South Korea

来源：

PROCEEDINGS OF THE SIXTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 16TH '11) | 2011年

关键词：

Navigation System; Autonomous Vehicle; GPS; Dead Reckoning; Kalman Filter; Position Location;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes a position recognition system for autonomous vehicle via Kalman filtering. Absolute positioning is required to obtain successful operation of an autonomous vehicle's process. To get reliable positions, there are two ways, either using a GPS or dead reckoning from velocity and steering angle of the vehicle. Error elements exist in both the uses of GPS and dead reckoning. Stable position data of the autonomous vehicle is necessary for a successful operation even with the error elements. Kalman filter is suggested between the GPS and dead reckoning to get stable position data. Correction is performed during the localization of the processing position by using Kalman filter between GPS and dead reckoning.

引用

页码：834 / 837

页数：4

共 6 条

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[4]

Park J., 2009, ASIA PAC J BUS COMME, V1, P1, DOI DOI 10.1063/1.3159832

[5]

Robert GroverBrown., 1997, INTRO RANDOM SIGNALS, VThird

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