Outdoor Precision Position Estimation System Using Multi-GPS Receivers

  • Seunghwan Choi
  • Kijung Kim
  • Yunki Kim
  • Jangmyung Lee
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8102)


In this paper, tightly coupled system is designed using multi-GPS receivers based on the Extended Kalman Filter(EKF). Typically, GPS has the instantaneous error and INS has the disadvantage that the cumulative error occurs over time. To fill the gap, receiving is stabilized and accuracy is higher position information get using multi-GPS receivers. INS’s data is precisely updated through the multi-GPS’s position data in the data fusion process of the EKF. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found.


Outdoor Multi-GPS INS EKF Tightly coupled system 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Seunghwan Choi
    • 1
  • Kijung Kim
    • 1
  • Yunki Kim
    • Jangmyung Lee
      1. 1.Interdisciplinary Program in RoboticsPusan National UniversitySouth Korea

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