GPS와 가속도계를 이용한 이동 물체의 위치 추정 시스템

Abstract

To get continuous navigation information at low cost, this work demonstrates a position system which is constructed by integrating GPS and 3-axis accelerometer. After vibration and noise elements of accelerometer are removed using Kalman filter, this system gets accelerations on straight and centripetal directions which affect vehicle. Continuous navigation information is calculated by unifying GPS information and accelerations. Through some simulations and experiments, it is shown that the performance of GPS can be improved by employing an accelerometer. Proposed system can provide a stable and seamless navigation solution even in the case when the GPS signal is unavailable due to tunnels, buildings, and so on. Simulation and experiment results indicate a satisfactory performance of the proposed system.