TY - GEN
T1 - Precise positioning of robots with fusion of GNSS, INS, odometry, barometer, local positioning system and visual localization
AU - Henkel, Patrick
AU - Sperl, Andreas
AU - Mittmann, Ulrich
AU - Bensch, Robert
AU - Färber, Paul
AU - Günther, Christoph
N1 - Publisher Copyright:
© 2018 Institute of Navigation. All rights reserved.
PY - 2018
Y1 - 2018
N2 - The autonomous driving of robots requires precise and reliable positioning information with low-cost sensors. In this paper, we propose a tightly coupled sensor fusion of multiple complementary sensors including GNSS-RTK, INS, odometry, Local Positioning System (LPS) and Visual Positioning. The focus of this paper is on the integration of LPS and vision since the coupling of GNSS-RTK, INS and odometry is already state of the art. We include the positions of the LPS anchors and the bearing vectors and distances from the robot’s camera towards the patch features as state vectors in our Kalman filter, and show the achievable positioning accuracies.
AB - The autonomous driving of robots requires precise and reliable positioning information with low-cost sensors. In this paper, we propose a tightly coupled sensor fusion of multiple complementary sensors including GNSS-RTK, INS, odometry, Local Positioning System (LPS) and Visual Positioning. The focus of this paper is on the integration of LPS and vision since the coupling of GNSS-RTK, INS and odometry is already state of the art. We include the positions of the LPS anchors and the bearing vectors and distances from the robot’s camera towards the patch features as state vectors in our Kalman filter, and show the achievable positioning accuracies.
UR - http://www.scopus.com/inward/record.url?scp=85062955769&partnerID=8YFLogxK
U2 - 10.33012/2018.16097
DO - 10.33012/2018.16097
M3 - Conference contribution
AN - SCOPUS:85062955769
T3 - Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
SP - 3078
EP - 3087
BT - Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
PB - Institute of Navigation
T2 - 31st International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2018
Y2 - 24 September 2018 through 28 September 2018
ER -