|Abstract:||The autonomous driving of robots requires precise and reliable positioning information with low-cost sensors. In this paper, we propose a tightly coupled sensor fusion of multiple complementary sensors including GNSS-RTK, INS, odometry, Local Positioning System (LPS) and Visual Positioning. The focus of this paper is on the integration of LPS and vision since the coupling of GNSS-RTK, INS and odometry is already state of the art. We include the positions of the LPS anchors and the bearing vectors and distances from the robot’s camera towards the patch features as state vectors in our Kalman filter, and show the achievable positioning accuracies.|
Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018)
September 24 - 28, 2018
Hyatt Regency Miami
|Pages:||3078 - 3087|
|Cite this article:||
Henkel, Patrick, Sperl, Andreas, Mittmann, Ulrich, Bensch, Robert, Färber, Paul, Günther, Christoph, "Precise Positioning of Robots with Fusion of GNSS, INS, Odometry, Barometer, Local Positioning System and Visual Localization," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3078-3087.
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