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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fusion of INS with GNSS and its application to mobile robot navigation


    Additional title:

    Fusion von INS mit GNSS und die Anwendung auf die Navigation mobiler Roboter


    Contributors:
    Domenech, L. (author) / Armesto, L. (author) / Tornero, J. (author)


    Publication date :

    2008


    Size :

    5 Seiten, 5 Bilder, 13 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Assured Sensor Fusion for GNSS-Degraded Navigation

    Soloviev, Andrey | British Library Conference Proceedings | 2016


    Sensor Fusion for Autonomous Mobile Robot Navigation

    Plascencia, Alfredo | BASE | 2008

    Free access

    Omnidirectional mobile robot base device based on fusion navigation and application thereof

    YUAN QUANQIAO / LI YANG / JIANG JIE | European Patent Office | 2024

    Free access

    Autonomous Navigation for Mobile Robot Based on a Fusion Algorithm

    Shi, Yunkun / Zhang, Zhize / Li, Xiao | British Library Conference Proceedings | 2022


    Mobile device’s PDR Application Using CNN Based SpeedNet and GNSS Fusion

    Cheng, Yang Tsu / En, Lu Yang / Jun, Wu Ting et al. | IEEE | 2024