편대 내 차량 간 거리 추정 정확도를 이용한 ROS 기반 GPS/IMU 통합 위치 인식 알고리즘 검증

다국어 초록 (Multilingual Abstract)

In this study, we verify the accuracy of proposed GPS/IMU fusion algorithm based on the Kalman filter designed to estimate global position and heading angle. Since measuring the exact global position is not a simple task, we compare the estimated distance with the actual distance between two vehicles to examine the accuracy. In addition, the heading angle estimated by GPS is introduced to correct the estimation of the north direction by IMU, which is vulnerable to external magnetic fields. Also, we implement the proposed algorithm on two vehicles (leader, follower) in formation using robot operating system (ROS) to construct the platform for the availability of further fusion with perception sensor. Consequently, global position and heading angle are estimated with a sampling frequency of 100Hz and it is confirmed that the distance between two vehicles can be estimated within 2cm error.