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학술지 Leveraging Localization Accuracy With Off-Centered GPS
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저자
최성록, 김종환
발행일
202006
출처
IEEE Transactions on Intelligent Transportation Systems, v.21 no.6, pp.2277-2286
ISSN
1524-9050
출판사
IEEE
DOI
https://dx.doi.org/10.1109/TITS.2019.2915108
협약과제
19HS6300, 실외 무인 경비 로봇을 위한 멀티모달 지능형 정보분석 기술 개발, 신호철
초록
A GPS is usually installed at the center of a vehicle because with this configuration its data become the position of the vehicle without complex calibration and transformation. In this paper, however, we verify that the off-center arrangement of the GPS improves the position and orientation accuracy theoretically and experimentally. The extended Kalman filter (EKF) formulation and its observability and uncertainty analysis present that the off-centered GPS is better observable and less uncertain. Moreover, our experiments with synthetic data and real sensor dataset confirm the improvement of localization accuracy. The synthetic data generated in various situations reveal the important properties of localization with the off-centered GPS. The public outdoor dataset with real GPS data also supports the advantage of the off-centered GPS.
키워드
EKF, GPS, lever arm, localization, sensor offset, sensor placement
KSP 제안 키워드
Extended kalman fiLTEr, Gps data, Off-centered, Orientation accuracy, Position and orientation, Sensor Placement, Synthetic data, lever arm, localization accuracy, uncertainty analysis