지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2024.4
- 수록면
- 98 - 105 (8page)
- DOI
- 10.3744/SNAK.2024.61.2.98
이용수
초록· 키워드
오류제보하기
Due to the low accuracy of measured data obtained from low-cost GNSS and IMU devices, it was hard to secure the required accuracy of the measured position and heading angle for autonomous navigation which was conducted by a model-scale marine mobility. In this paper, a localization technique using the Extended Kalman Filter (EKF) is proposed for coping with the issue. First of all, a position and heading angle estimator is developed using EKF with the assumption of a point mass model. Second, the measured data from GNSS and IMU, including position, heading angle, and velocity are used for the estimator. In addition, the heading angle is additionally obtained by comparing the LiDAR point cloud with map information for a temporal water tank. The newly acquired heading angle is integrated into the estimator as an additional measurement to correct the inaccuracy in the heading angle measured from the IMU. The effectiveness of the proposed approach is investigated using data acquired from preliminary tests of the model-scale autonomous marine mobility.
목차
1. 서론
2. 모형 스케일 자율운항 해양 이동체의 H/W 및 S/W 구성
3. 확장칼만필터를 이용한 위치 및 선수각 추정기 및 타당성 분석 조건
4. 결과 상대 비교 및 분석
5. 결론
References
참고문헌 (0)
참고문헌 신청이 논문과 함께 이용한 논문
최근 본 자료
댓글(0)
0