TY - GEN
T1 - Vehicle localization in outdoor woodland environments with sensor fault detection
AU - Morales, Yoichi
AU - Takeuchi, Eijiro
AU - Tsubouchi, Takashi
PY - 2008/9/18
Y1 - 2008/9/18
N2 - This paper describes a 2D localization method for a differential drive mobile vehicle on real forested paths. The mobile vehicle is equipped with two rotary encoders, Crossbow's NAV420CA Inertial Measurement Unit (IMU) and a NAVCOM SF-2050M GPS receiver (used in StarFire-DGPS dual mode). Loosely-coupled multisensor fusion and sensor fault detection issues are discussed as well. An extended Kalman Filter (EKF) is used for sensor fusion estimation where a GPS noise pre-filter is used to avoid introducing biased GPS data (affected by multi-path). Normalized Innovation Squared (NIS) tests are performed when a GPS measurement is incorporated to reject GPS data outliers and keep the consistency of the filter. Finally, experimental results show the performance of the localization system compared to a previously measured ground truth.
AB - This paper describes a 2D localization method for a differential drive mobile vehicle on real forested paths. The mobile vehicle is equipped with two rotary encoders, Crossbow's NAV420CA Inertial Measurement Unit (IMU) and a NAVCOM SF-2050M GPS receiver (used in StarFire-DGPS dual mode). Loosely-coupled multisensor fusion and sensor fault detection issues are discussed as well. An extended Kalman Filter (EKF) is used for sensor fusion estimation where a GPS noise pre-filter is used to avoid introducing biased GPS data (affected by multi-path). Normalized Innovation Squared (NIS) tests are performed when a GPS measurement is incorporated to reject GPS data outliers and keep the consistency of the filter. Finally, experimental results show the performance of the localization system compared to a previously measured ground truth.
UR - http://www.scopus.com/inward/record.url?scp=51649124018&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2008.4543248
DO - 10.1109/ROBOT.2008.4543248
M3 - Conference contribution
AN - SCOPUS:51649124018
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 449
EP - 454
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -