Navigation of Unmanned Ground Vehicle (UGV) by using dead reckoning (DR) and global mapping optimization
Bok-Joong Yoon, Jung-Hun Na, Seung-Kwon Jung, Jung‐Ha Kim · 2008
This research proposes a navigation algorithm using multiple GPS units and a differential GPS (DGPS) unit simultaneously, a compass, encoders, and optimized global mapping. GPS systems sometimes lose their signals and receive inaccurate position data due to many factors, such as obstructions. This paper shows that GPS failure can be solved by using a DR navigation method with encoders and a compass, and that position errors can be decreased by using multiple GPS units and a DGPS unit. In addition to this method, a smoothing algorithm will be used to improve the UGV’s driving ability, and an expanded-route data definition file (Ex-RDDF) will be created to compare with current data to estimate GPS error.