Intelligent mapping and outdoor localisation for mobile robots by using algorithmic DGPS and Kalman filtering

摘要

In this work, a novel approach that integrates GPS and Kalman filtering for the purpose of outdoor mapping is presented. Using two low-cost GPS receivers, a completely DGPS-like system is achieved algorithmically in the absence of real DGPS service. After the measurements are differentially corrected, a discrete Kalman filter algorithm is" employed to estimate optimally the position of a robot vehicle to realise the trajectory estimation of the vehicle. Therefore, mapping of a specific geographical field in latitude and longitude is obtained. The results of the experimental testing of the DGPS algorithm and Kalman filtering show the effectiveness of the proposed approach.