Gyro센서와 GPS 신호 오차를 고려한 차량 위치 추정기 개발과 검증

Abstract

This paper proposes the localization algorithm to correct location error of GPS signal and to update the GPS signal in high frequency. The GPS, a part of navigation system, determines the global position of receiver using communication with satellite. The position determined by the GPS has error due to building canyon, tunnel and multipath. Hence, the proposed algorithm estimates more accurate position of vehicle using the in-vehicle sensor information like wheel speed sensor and yaw rate sensor to overcome the lack of GPS satellite signal. Also, the filtering algorithm was designed to eliminate the unexpected GPS signal by monitoring the status of GPS satellite linkage. Lastly, the vehicle test was performed to validate the performance of proposed algorithm.