IROS 2007: An Augmented State Vector Approach to GPS-Based Localization

Francesco Capezio, Antonio Sgorbissa, Renato Zaccaria
DIST – University of Genova, Italy

Abstract:
The paper focuses on the localization subsystem
of ANSER, a mobile robot for autonomous surveillance in
civilian airports and similar wide outdoor areas. ANSER
localization subsystem is composed of a non-differential GPS
unit and a laser rangefinder for landmark-based localization
(inertial sensors are absent). An augmented state vector
approach and an Extended Kalman filter are successfully
employed to estimate the colored components in GPS noise,
thus getting closer to the conditions for the EKF to be
applicable.