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.
An Augmented State Vector Approach to GPS-Based Localization
CAPEZIO, FRANCESCO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
2007-01-01
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.
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