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고정밀 위치인식 시스템에서의 위치 추적편이 완화를 통한 이동 로봇의 효율적 위치 추정
김곤우(Gon-Woo Kim),이상무(Sang-Moo Lee),임충혁(Chung-Hieog Yim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.8
In this paper, we propose a high accurate geo-location system based on a single base station, where its location is obtained by Time-of-Arrival(ToA) and Direction-of-Arrival(DoA) of the radio signal. For estimating accurate ToA and DoA information, a MUltiple SIgnal Classification(MUSIC) is adopted. However, the estimation of ToA and DoA using MUSIC algorithm is a time-consuming process. The position tracking bias is occurred by the time delay caused by the estimation process. In order to mitigate the bias error, we propose the estimation method of the position tracking bias and compensate the location error produced by the time delay using the position tracking bias mitigation. For accurate self-localization of mobile robot, the Unscented Kalman Filter(UKF) with position tracking bias is applied. The simulation results show the efficiency and accuracy of the proposed geo-Iocation system and the enhanced performance when the Unscented Kalman Filter is adopted for mobile robot application.