한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제16권3호
  • /
  • Pages.7-14
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  • 2008
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  • 1225-6382(pISSN)
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  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지

확장형 칼만필터를 이용한 무인 자동차의 자율항법 최적화 알고리즘 개발

Development of the Optimized Autonomous Navigation Algorithm for the Unmanned Vehicle using Extended Kalman Filter

  • 윤득선 (경기공업대학 메카트로닉스과) ;
  • 유환신 (호원대학교 자동차.기계공학부)
  • Yun, Duk-Sun (Department of Mechartronics Engineering, Kyonggi Institute of Technology) ;
  • Yu, Hwan-Shin (Department of Automotive & Mechanical Engineering, Howon University)
  • 발행 : 2008.05.01
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초록

Unmanned vehicle has a performance for finding the path and the way point by itself, so called orientation and direction. For the more precise navigation performance, Extended kalman filter, which is integrated with inertial navigation system and global positioning system is proposed in this paper. Extended kalman filter's performance is evaluated by the simulation and applied to the unmanned vehicle. The test result shows the effectiveness of Extended kalman filter for the navigation.

키워드

참고문헌

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