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Proceedings Paper

Two-dimensional localization using nonlinear Kalman approaches
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Paper Abstract

We present two methods for a localization system, defined as the "angle of arrival" scheme, which computes position and heading of an autonomous vehicle system (AVS) fusing both odometry data and the measurements of the relative azimuth angles of known landmarks (in this case, reflectors of a stabilized laser/reflector system). The first method involves a combination of a geometric transformation and a recursive least squares approach with forgetting factor. The second method presented is a direct approach using variants of the Unscented Kalman filter. Both methods are examined in simulation and the results presented.

Paper Details

Date Published: 29 December 2004
PDF: 9 pages
Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); doi: 10.1117/12.571578
Show Author Affiliations
Gregory Robert Hudas, U.S. Army (United States)
Ka. C. Cheok, Oakland Univ. (United States)
James L. Overholt, U.S. Army (United States)
G. Edzko Smid, Oakland Univ. (United States)


Published in SPIE Proceedings Vol. 5609:
Mobile Robots XVII
Douglas W. Gage, Editor(s)

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