멀티센서 데이터 융합에 의한 차륜형 이동체 위치추정시스템의 정도 개선에 관한 연구

A Study on the Improvement of the Accuracy of a Wheeled Vehicle Positioning System by Multisensor Data Fusion

In constructing the positioning system based on a conventional dead-reckoning for a wheeled vehicle with pneumatic tires, the position estimation error is inevitable as changes of the radius of the wheels depend on live load and variable enviroment. Therefore, this paper proposes the positioning system which can estimate the error source i.e. the vehicle parameter errors, such as the right and left wheel radius error, using gyroscope and ultrasonic sensor and correct the parameter to reduce the dead-reckoned position estimation error. The extended Kalman filter was used as a method for the multisensor data fusion. The simulation to verify the effectiveness of the proposed positioning system is performed.