This paper investigates the fusion of Inertial Navigation Systems (INS) and Global Navigation Satellite Systems (GNSS). Both systems present interesting complementary characteristics to increase pose and orientation estimation performance, in comparison to separated approaches. In the paper, two different fusion strategies are discussed and compared, namely the Uncoupled and Loosely Coupled, where clearly the Loosely Coupled gives better estimations. The application of this paper is to estimate the motion of a mobile robot in different contexts such as mobile robot manipulators for facade restoration tasks and Automated Guided Vehicles (AGVs) in industrial outdoor environments.
Fusion of INS with GNSS and its application to mobile robot navigation
Fusion von INS mit GNSS und die Anwendung auf die Navigation mobiler Roboter
2008
5 Seiten, 5 Bilder, 13 Quellen
Aufsatz (Konferenz)
Englisch
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