Reduction of position error for unmanned all-terrain vehicle (ATV) by using GPS device

Abstract

In this paper, the dynamic model of unmanned All-Terrain Vehicle (ATV) is studied. The inertia sensors are integrated on unmanned ATV to estimate the position and orientation. The absolute positioning instrument using GPS device is placed on unmanned ATV combined with estimated position and orientation from inertia sensors system of unmanned ATV to estimate absolute position errors. In the method, the indirect Kalman filter is used to estimate absolute position errors between inertia sensors system and GPS information and then the estimated errors are fed back to inertia sensors system. The simulation and experiment results show the estimated position and orientation of inertia sensors system and absolute position and orientation from GPS device compared with inertia sensors system.