户外定位与光学导航传感器，IMU和GPS

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) Pub Date : 2012-11-12 DOI:10.1109/MFI.2012.6343007

Youngmok Yun, Jingfu Jin, N. Kim, Jeongyeon Yoon, Changhwan Kim

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引用次数: 4

摘要

各种军事和工业领域都需要自主户外导航算法。一个稳定、鲁棒的室外定位算法是室外导航成功的关键。然而，外界影响的不可预测和GPS信号的中断给室外定位带来了困难。为了解决这个问题，我们首先设计了一种新的光学导航传感器，可以在不受外部影响的情况下测量移动机器人的横向距离。其次，利用光学导航传感器，结合惯性测量单元(IMU)和GPS建立了一种新的定位算法。该算法在GPS信号频繁中断和粗糙地面干扰严重的城市环境中进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Outdoor localization with optical navigation sensor, IMU and GPS

Autonomous outdoor navigation algorithms are required in various military and industry fields. A stable and robust outdoor localization algorithm is critical to successful outdoor navigation. However, unpredictable external effects and interruption of the GPS signal cause difficulties in outdoor localization. To address this issue, first we devised a new optical navigation sensor that measures a mobile robot's transverse distance without being subjected to external influence. Next, using the optical navigation sensor, a novel localization algorithm is established with Inertial-Measurement-Unit (IMU) and GPS. The algorithm is verified in an urban environment where the GPS signal is frequently interrupted and rough ground surfaces provide serious disturbances.

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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

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