CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishThe paper focuses on the localization subsystem of ANSER, a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. ANSER localization subsystem is composed of a non-differential GPS unit and a laser rangefinder for landmark-based localization (inertial sensors are absent). An augmented state vector approach and an Extended Kalman filter are successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
Scheda prodotto non validato
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo
| Titolo: | An Augmented State Vector Approach to GPS-Based Localization | |
| Autori: | ||
| Data di pubblicazione: | 2007 | |
| Abstract: | The paper focuses on the localization subsystem of ANSER, a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. ANSER localization subsystem is composed of a non-differential GPS unit and a laser rangefinder for landmark-based localization (inertial sensors are absent). An augmented state vector approach and an Extended Kalman filter are successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable. | |
| Handle: | http://hdl.handle.net/11567/250300 | |
| Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11567/250300
Copyright © 2021