NDLI: Robust least squares algorithm based position and heading estimator by using range difference measurement and heading sensor

Content Provider	IEEE Xplore Digital Library
Author	Ka Hyung Choi Yong Hwi Kim Tae Sung Yoon Jin Bae Park
Copyright Year	2012
Description	Author affiliation: Department of Electrical and Electronic Engineering, Yonsei University, Shinchon-Dong, Seodaemum-Gu, Seoul, Korea (Ka Hyung Choi; Yong Hwi Kim; Jin Bae Park) \|\| Department of Electrical Engineering, Changwon National University, Korea (Tae Sung Yoon)
Abstract	A position and heading estimator for a mobile robot is proposed with range difference (RD) measurements and a heading sensor. The estimator is developed based on the robust least squares (RoLS) algorithm and its estimation performance is improved by the heading sensor. An unbiased estimation result can be expected by the RoLS algorithm but its notable performance is restricted only when the given stochastic information of the RD measurements is correct. This aspect leads that an additional compensation procedure is required under doubtful stochastic information. To cope with this problem, we attached two transmitters on the mobile robot to obtain the position and the heading information and derived estimation errors of the position and the heading to a function of an incorrectness of the given stochastic information. The incorrectness is estimated by the extended Kalman filter (EKF) with the additional heading sensor measurements and is utilized to compensate the position and heading estimates. Through computer simulation, we verified the performance of proposition when the given stochastic information is incorrect.
Starting Page	1996
Ending Page	2001
File Size	379045
Page Count	6
File Format	PDF
ISBN	9781467320658
ISSN	07431546
e-ISBN	9781467320665
e-ISBN	9781467320641
DOI	10.1109/CDC.2012.6425914
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Position measurement Stochastic processes Mathematical model Estimation error Transmitters
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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