| 摘要 |
<p>The present invention relates to a position estimation system and a method for estimating a position by using the position estimation system to enable a robot to carry out precise work by accurately identifying the position of the robot outdoors at low cost. To realize this, the position estimation system comprises a rotary distance measuring device which is mounted on a moving body and measures distances to landmarks installed on predetermined locations from a detection signal for each landmark; a posture measuring device which is mounted on the moving body to measure information on a posture of the moving body in real time; a landmark database wherein information on locations of all the landmarks are recorded; and a process unit which is installed in the moving body, compensates errors in the measured distances to each of the landmarks by combining information on measured values received from the rotary distance measuring device and the posture measuring device, and outputs information on the location and posture of the moving body by substituting the error compensated value for the information on the location of each landmark in the landmark database. According to the present invention, the position estimation system and the method for estimating a position by using the position estimation system initialize a pre-established working area of a moving body by using incomplete GPS information on a position, and combine a measured distance value which is compensated with distance data and information on the posture of each landmark in a unit area where the moving body is located and which is divided by a plurality of landmarks, so that accurate information on the position of the moving body is obtained in the order of centimeters, thereby enabling the moving body to be moved precisely to perform precise work.</p> |
