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Implementation of a Hybrid Navigation System for a Mobile Robot by Using INS/GPS and Indirect Feedback Kalman Filter
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 Title & Authors
Implementation of a Hybrid Navigation System for a Mobile Robot by Using INS/GPS and Indirect Feedback Kalman Filter
Kim, Min J.; Joo, Moon G.;
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 Abstract
A hybrid navigation system is implemented to apply for a mobile robot. The hybrid navigation system consists of an inertial navigation system and a global positioning system. The inertial navigation system quickly calculates the position and the attitude of the robot by integrating directional accelerations, angular speed, and heading angle from a strap-down inertial measurement unit, but the results are available for a short time since it tends to diverge quickly. Global positioning system delivers position, heading angle, and traveling speed stably, but it has large deviation with slow update. Therefore, a hybrid navigation system uses the result from an inertial navigation system and corrects the result with the help of the global positioning system where an indirect feedback Kalman filter is used. We implement and confirm the performance of the hybrid navigation system through driving a car attaching it.
 Keywords
Indirect feedback Kalman filter;IMU;GPS;Hybrid navigation system;
 Language
Korean
 Cited by
 References
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