System and method for complex navigation using dead reckoning and GPS

摘要

Provided are a system and method for complex navigation using dead reckoning and a global positioning system capable of enhancing robustness of positioning by compensating for discontinuity of GPS reception data. The system for complex navigation using dead reckoning (DR) and a global positioning system (GPS) includes a GPS receiving unit configured to receive GPS data, a DR unit configured to generate DR information by using a wheel speed, a steering angle, and a yaw rate, a buffer unit configured to store the DR information, and a filter unit configured to generate positioning information of a moving object by using at least one of output information from the GPS receiving unit and the DR information stored in the buffer unit.

主权项

1. A system for complex navigation using dead reckoning (DR) and a global positioning system (GPS), the system comprising:
a GPS receiving unit configured to receive GPS data; a DR unit configured to generate DR information by using a wheel speed, a steering angle, and a yaw rate; a buffer unit configured to store the DR information; a filter unit configured to generate positioning information of a moving object by using at least one of output information from the GPS receiving unit and the DR information stored in the buffer unit; and a fusion determining unit configured to
determine whether to fuse first location information of the moving object and second location information of the moving object,determine whether a difference between the first location information and the second location information exceeds a preset expected error, anddetermine, in response to the difference exceeding the expected error, that positioning is inaccurate and to generate positioning information of the moving object with only the second location information, wherein the filter unit is further configured to generate, in response to the fusion determining unit generating positioning information using both the first location information and the second location information, positioning information of the moving object using both the first location information and the second location information.