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2008
IEEE

Vehicle localization in outdoor woodland environments with sensor fault detection

8 years 8 months ago
Vehicle localization in outdoor woodland environments with sensor fault detection
— This paper describes a 2D localization method for a differential drive mobile vehicle on real forested paths. The mobile vehicle is equipped with two rotary encoders, Crossbow’s NAV420CA Inertial Measurement Unit (IMU) and a NAVCOM SF-2050M GPS receiver (used in StarFire-DGPS dual mode). Loosely-coupled multisensor fusion and sensor fault detection issues are discussed as well. An extended Kalman Filter (EKF) is used for sensor fusion estimation where a GPS noise pre-filter is used to avoid introducing biased GPS data (affected by multi-path). Normalized Innovation Squared (NIS) tests are performed when a GPS measurement is incorporated to reject GPS data outliers and keep the consistency of the filter. Finally, experimental results show the performance of the localization system.
Yoichi Morales Saiki, Eijiro Takeuchi, Takashi Tsu
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Yoichi Morales Saiki, Eijiro Takeuchi, Takashi Tsubouchi
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