Outdoor Localization of Quad-Rotor Using Extended Kalman Filter and Cell Division Algorithm

  • Yoon Ki Kim
  • Ki Jung Kim
  • Min Cheol Lee
  • Jang-Myung Lee
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


This paper proposes a new technique that produces the improved local information using low-cost GPS/INS system combined by Extended Kalman Filter and Cell Division Algorithm when a Quad-rotor flies. Throughout the research, the low-cost GPS is combined with INS by using extended Kalman filter in order to improve local information. However, this system has the disadvantage that the level of precision for the position information is influenced by the performance of GPS. In order to deal with such disadvantages, the algorithm based on cell division can be adopted. When the quad-rotor flies outdoor, it is possible to predict that its moving path is short, since all the short moving paths of the quad-rotor can be assumed to be straight. Cell division algorithm is used to make such a short moving path and determine the closest local information of the GPS/INS system. Through the above process, an improved kind of local information can be obtained when the quad-rotor flies. Also, the performance of the proposed system can be verified based on various outdoor experiments.


Cell division algorithm Extended Kalman filter Quad-rotor GPS INS Localization 



This work was supported by the National Research Foundation of Korea(NRF) Grant funded by the Korean Government(MSIP) (NRF-2013R1A1A2021174). This research was supported by Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education (NRF-2010-0024129).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Yoon Ki Kim
    • 1
  • Ki Jung Kim
    • 1
  • Min Cheol Lee
    • 1
  • Jang-Myung Lee
    • 1
  1. 1.Department of Electrical EngineeringPusan National UniversityBusanKorea

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