Aided Navigation Techniques for Indoor and Outdoor Unmanned Vehicles

摘要

This paper presents design considerations of indoor and outdoor navigation techniques proposed for unmanned vehicles (UV). In this paper, we mainly investigate the use and the advantages of wireless sensor networks (WSNs) for indoor navigation, and Global Positioning System (GPS) for outdoor navigation. The system primarily uses laser range finder (LRF) measurements for indoor navigation, and is based on Extended Kalman Filter (EKF). For outdoor navigation the system uses Inertial Navigation System (INS) measurements. At periodical intervals the system integrates the measurements of an absolute sensor to improve estimations. The absolute sensor is a WSN interface for indoor navigation, and a GPS receiver for outdoor navigation. Simulation studies were conducted using Unified System for Automation and Robot Simulation (USARSim) and Player/Stage. The results of USARSim based simulations prove the advantages of integrating GPS measurements. Player/Stage based simulations show the advantages of integrating Received Signal Strength Indicator (RSSI) measurements obtained from WSN interfaces. In addition to the simulation studies, field tests with a custom-built Corobot autonomous robot platform will be realized to prove the effectiveness of the methods.