Outlier rejection for reducing position error in navigation system based on multi sensors
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Title
- Outlier rejection for reducing position error in navigation system based on multi sensors
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Author(s)
- Ji, Dae Hyeong; Jeong, Sang Ki; Choi, Hyeung-Sik; Lee, Jung Han; Ko, Sung Hyub; Hyeon, Jong Wu; Kim, Myung-Jun
- KIOST Author(s)
- Ji, Dae Hyeong(지대형); Jeong, Sang Ki(정상기); Ko, Sung Hyub(고성협); Hyeon, Jong Wu(현종우)
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Alternative Author(s)
- 지대형; 정상기; 이정한; 고성협; 현종우
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Publication Year
- 2023-03
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Abstract
- A navigation system is critical for the operation of autonomous vehicles. Various sensors must be used to build navigation systems. To fuse multiple sensors, a highly advanced filter algorithm is required. Navigation systems have difficulties in signal-degraded scenarios, where the navigation solution can be degraded by errors such as multipath and obscured signals. This paper proposes a navigation system using a technique to reject the outliers measured by sensors. The navigation system was designed to include sensor modeling, navigation filters, and outlier rejection. The sensors used in the navigation system are the accelerometer, gyroscope, magnetometer, and global positioning system. Before the experiment, a navigation simulation was performed to evaluate the results and validate the proposed navigation algorithm. The results of the experiment verified that the navigation system, including outlier rejection, had less positional error than that of the general navigation system.
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ISSN
- 0020-2940
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URI
- https://sciwatch.kiost.ac.kr/handle/2020.kiost/43333
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DOI
- 10.1177/00202940221095553
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Bibliographic Citation
- Measurement and Control, v.56, no.3-4, pp.481 - 492, 2023
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Publisher
- SAGE Publications
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Keywords
- Navigation system; outlier rejection; autonomous vehicle; global positioning system; navigation algorithm
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Type
- Article
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Language
- English
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Document Type
- Article; Early Access
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