Position estimation using multiple low-cost GPS receivers for outdoor mobile robots

Woosik Lee, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Recently, the application of navigation system to electric devices such as cars, airplanes, and cellphones has become common. This common usage increases the demand for GPS, and therefore, GPS accuracy has become important. However, applying an external correction device or using a high-accuracy GPS receiver is very expensive; thus, practical applications of robotic systems using this technology are limited. Therefore, in this paper, we propose a method of using multiple low-cost GPS receivers in position estimation to enhance accuracy and decrease system buildup cost. The position estimation is based on the following steps: 1) sensor modeling of each GPS receiver, and 2) position estimation using extended Kalman filter based on the model of each sensor. The result of this study showed enhanced accuracy of the position estimation and the correlation between the number of GPS receivers used and accuracy of the position estimation. The position-estimation accuracy can be enhanced with low system buildup cost, and therefore, the proposed method can contribute to the field of robot control in outdoor environment.

Original languageEnglish
Title of host publication2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages460-461
Number of pages2
ISBN (Print)9781467379700
DOIs
Publication statusPublished - 2015 Dec 16
Event12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 - Goyang City, Korea, Republic of
Duration: 2015 Oct 282015 Oct 30

Other

Other12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015
CountryKorea, Republic of
CityGoyang City
Period15/10/2815/10/30

Keywords

  • EKF
  • Multiple GPS receiver
  • Outdoor positioning system

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Lee, W., & Chung, W. J. (2015). Position estimation using multiple low-cost GPS receivers for outdoor mobile robots. In 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2015 (pp. 460-461). [7358906] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2015.7358906