NAVIGATION DEVICE, NAVIGATION SYSTEM, NAVIGATION POSITIONING METHOD, AND VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a horizontal navigation system for a carrier wave differential type global positioning system (GPS) receiver and an autonomous ground vehicle (AGV) having a laser scanner.;SOLUTION: The horizontal navigation system comprises an inexpensive optical fiber gyro (FOG) and an accurate odometer. A navigation error is estimated, by using a tight coupling extension Kalman filter (EKF). Measuring values of EKF have a double differential sign and a carrier wave phase from a two-frequency GPS receiver and a relative position generated from laser scanner measurement. According to this navigation system, even under a severe environment, shielded by high buildings and other obstructions, decimeter level positioning precision necessary for accurate GPS positioning is obtained.;COPYRIGHT: (C)2006,JPO&NCIPI