Intelligent mapping and outdoor localisation for mobile robots by using algorithmic DGPS and Kalman filtering
by Erol Uyar, Omer Oral, Bertan Karahoda
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 2, No. 3, 2009

Abstract: In this work, a novel approach that integrates GPS and Kalman filtering for the purpose of outdoor mapping is presented. Using two low-cost GPS receivers, a completely DGPS-like system is achieved algorithmically in the absence of real DGPS service. After the measurements are differentially corrected, a discrete Kalman filter algorithm is employed to estimate optimally the position of a robot vehicle to realise the trajectory estimation of the vehicle. Therefore, mapping of a specific geographical field in latitude and longitude is obtained. The results of the experimental testing of the DGPS algorithm and Kalman filtering show the effectiveness of the proposed approach.

Online publication date: Tue, 26-May-2009

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