Autonomous Navigation and Control of Miniature Vehicle using Indoor Navigation System

Changdon Kee, Doohee Yun and Haeyoung Jun

Abstract:	In recent times, there have been many efforts to extend the serviceable area of GPS to the indoor environment. It is not an easy task, however, because GPS satellite signals are either blocked or highly attenuated, by building structures. Consequently, we have decided to make use of a pseudolite, which is a kind of signal generator that transmits a GPS-like signal. By using pseudolites, we have developed an indoor navigation system and obtained centimeter-level positioning accuracy. To make this system a more robust and practical one, we implemented automatic cycle ambiguity resolution and cycle-slip recovery functions. In addition, we also made a two- dimensional attitude determination system using a two-antenna array. Our final research goal was to control a miniature vehicle by use of only the indoor navigation system and to show that this system is a sufficient position and attitude sensor for practical applications. To accomplish this mission, we designed two controllers— simple line transfer, and circle tracking. Experimental results showed that the miniature vehicle was successfully controlled within 1~2 cm. Hence, we are convinced that our indoor navigation system will provide a key technology in extending GPS navigation into the indoor world.
Published in:	Proceedings of the 2002 National Technical Meeting of The Institute of Navigation January 28 - 30, 2002 The Catamaran Resort Hotel San Diego, CA
Pages:	573 - 586
Cite this article:	Kee, Changdon, Yun, Doohee, Jun, Haeyoung, "Autonomous Navigation and Control of Miniature Vehicle using Indoor Navigation System," Proceedings of the 2002 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2002, pp. 573-586.
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