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A Evaluation Test Bed for Outdoor Localization Algorithms Using a High-Precision Positioning System

机译：使用高精度定位系统的户外定位算法评估测试台

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摘要

The localization of mobile robots is very important for any outdoor application such as search and rescue, reconnaissance, surveillance, and monitoring. Already a lot of research was done in the field of localization; nevertheless an accurate and reliable positioning of a mobile robot is very challenging. The common Global Positioning System (GPS) is a very common and popular for the outdoor localization. But GPS has well known drawbacks, like the limited accuracy of the positioning. For this reason, various sensor data fusion algorithms were developed, which fuse the GPS positioning information and dead reckoning sensors to overcome the drawbacks of GPS and dead reckoning sensors. A fundamental aspect of these fusions is the resulting accuracy of the determined position, which depends on the sensor accuracy as well as on the filter parameters. Usually, the output of such Filter are compared to the rare sensor data, but it is not compared to the real position of the vehicle. In the following, a test bed for localization methods will be introduced. To demonstrate the usage, Kalman Filter were implemented to fuse GPS and odometry sensors to determine the position of a mobile robot in an outdoor environment. The focus of this paper is the calibration and evaluation of the Kalman Filter using the test bed based on a high precision optical positioning system. Therefore, the experimental setup, the Kalman Filter, the synchronization of the high precision positioning system, and the transformation of one system into the other is explained.
机译：对于任何户外应用（例如搜索和救援，侦察，监视和监视），移动机器人的本地化都非常重要。在本地化领域已经进行了很多研究。然而，移动机器人的准确和可靠的定位是非常具有挑战性的。通用的全球定位系统（GPS）在户外本地化中非常普遍和流行。但是GPS具有众所周知的缺点，例如定位精度有限。因此，开发了各种传感器数据融合算法，将GPS定位信息和航位推算传感器融合在一起，以克服GPS和航位推算传感器的缺点。这些融合的基本方面是确定位置的最终精度，这取决于传感器精度以及滤波器参数。通常，将此类Filter的输出与稀有传感器数据进行比较，但不与车辆的实际位置进行比较。在下文中，将介绍用于定位方法的测试台。为了演示其用法，实施了卡尔曼滤波器以融合GPS和里程计传感器，以确定移动机器人在室外环境中的位置。本文的重点是使用基于高精度光学定位系统的测试台对卡尔曼滤波器进行校准和评估。因此，说明了实验装置，卡尔曼滤波器，高精度定位系统的同步以及将一个系统转换为另一个系统的过程。

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