Robotica

Table of Contents - 2000 - Volume 18, Issue 05  

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GPS latency identification by Kalman filtering

Denis  Bouvet a1 and Gaëtan  Garcia a2
a1 Institut de Recherche en Cybernétique de Nantes (IRCyN), 1 rue de la Noë, BP 92101, 44321 Nantes Cedex 3 (FRANCE) Gaetan.Garcia@ircyn.ec-nantes.fr
a2 Institut de Recherche en Cybernétique de Nantes (IRCyN), 1 rue de la Noë, BP 92101, 44321 Nantes Cedex 3 (FRANCE)

Abstract

For outdoor mobile robots localisation, GPS has obvious advantages: position data are directly given in an absolute frame, and the required infrastructure is reduced to a sole fixed station in the case of differential systems. Yet, the use of this solution raises a number of issues, such as the satellite maskings, or the existence of the so-called GPS latency which delays the output of the localisation data. This paper deals with the latter problem, and proposes a method to identify this parameter without using other exteroceptive sensors. Experimental results are presented based on trials carried out at the Centre d'Expérimentations Routières (CER) in Rouen, in collaboration with the Laboratoire Central des Ponts et Chaussées (LCPC).

(Received February 3 2000)


Key Words: Kalman filtering; GPS latency; Mobile robots; Localisation.